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Quantum Closed-Loop Inverse Kinematics Paper Released
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Andrea Morghen and other authors submitted a paper to arXiv cs.RO, proposing a structure-preserving quantum representation method: encoding spatial directions with single-qubit states, mapping rigid-body transformations and serial manipulator kinematics to parameterized quantum circuits, and reconstructing the end-effector pose from Pauli expectation values. The authors state that, based on the parameter-shift rule, the manipulator geometric Jacobian can be reconstructed from derivatives of quantum observables, and under ideal readout it is analytically equivalent to the classical result; this representation preserves the original joint variables and adapts to different kinematic conventions and joint types. On this basis, they propose a hybrid closed-loop method, Quantum Closed Loop Inverse Kinematics, which uses quantum-derived pose and Jacobian information to solve inverse kinematics. The above equivalence presupposes ideal readout and does not yet address performance on actual quantum hardware.
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- Quantum Closed-Loop Inverse Kinematics via Hilbert-Space Encoding of Robot Kinematics
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.
arXiv cs.RO ·