# Quantum Closed-Loop Inverse Kinematics via Hilbert-Space Encoding of Robot Kinematics

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/tgk0u7jf3rqu13uwritu0qnrw
- Original: https://arxiv.org/abs/2610.33715

## Summary

The paper proposes a structure-preserving quantum representation that maps rigid-body transformations and serial-manipulator kinematics to parameterized quantum circuits, encoding spatial directions in single-qubit states and reconstructing end-effector poses from Pauli expectation values. Using the parameter-shift rule, the manipulator geometric Jacobian can be reconstructed from derivatives of quantum observables, analytically equivalent to the classical result under ideal readout. On this basis, the authors propose a hybrid closed-loop method, Quantum Closed Loop Inverse Kinematics, which uses the quantum-derived pose and Jacobian information to solve inverse kinematics.