{"id":"https://openalex.org/W7161608263","doi":"https://doi.org/10.48550/arxiv.2605.15510","title":"A QUBO Formulation Framework for Kinematic Structure-Based Robot Design Optimization: A Robotic Hand Case Study","display_name":"A QUBO Formulation Framework for Kinematic Structure-Based Robot Design Optimization: A Robotic Hand Case Study","publication_year":2026,"publication_date":"2026-05-15","ids":{"openalex":"https://openalex.org/W7161608263","doi":"https://doi.org/10.48550/arxiv.2605.15510"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.15510","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15510","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.15510","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136374992","display_name":"HyoJae Kang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kang, HyoJae","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136411467","display_name":"Yeong Jae Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Yeong Jae","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026627704","display_name":"Jeongdo Ahn","orcid":"https://orcid.org/0000-0003-2042-4225"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ahn, Jeongdo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136422790","display_name":"Dongil Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Dongil","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.5259000062942505,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.5259000062942505,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.12729999423027039,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10682","display_name":"Quantum Computing Algorithms and Architecture","score":0.03669999912381172,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7038000226020813},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6848999857902527},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5935999751091003},{"id":"https://openalex.org/keywords/quantum-annealing","display_name":"Quantum annealing","score":0.5594000220298767},{"id":"https://openalex.org/keywords/simulated-annealing","display_name":"Simulated annealing","score":0.49059998989105225},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.4794999957084656},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.42989999055862427},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.3785000145435333},{"id":"https://openalex.org/keywords/engineering-design-process","display_name":"Engineering design process","score":0.3693000078201294},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3653999865055084}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7038000226020813},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6848999857902527},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5935999751091003},{"id":"https://openalex.org/C90408235","wikidata":"https://www.wikidata.org/wiki/Q938141","display_name":"Quantum annealing","level":4,"score":0.5594000220298767},{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.49059998989105225},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.4794999957084656},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44269999861717224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4388999938964844},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.42989999055862427},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3785000145435333},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3653999865055084},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3495999872684479},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3449999988079071},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.3407999873161316},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.3328000009059906},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.32919999957084656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3188999891281128},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.3174000084400177},{"id":"https://openalex.org/C177179195","wikidata":"https://www.wikidata.org/wiki/Q7268372","display_name":"Quadratic unconstrained binary optimization","level":4,"score":0.31279999017715454},{"id":"https://openalex.org/C48262172","wikidata":"https://www.wikidata.org/wiki/Q16908765","display_name":"Design process","level":3,"score":0.3125999867916107},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31200000643730164},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.30649998784065247},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.30000001192092896},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.2957000136375427},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.29010000824928284},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2890999913215637},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.27720001339912415},{"id":"https://openalex.org/C84111939","wikidata":"https://www.wikidata.org/wiki/Q5125465","display_name":"Clamping","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.2533999979496002},{"id":"https://openalex.org/C34559072","wikidata":"https://www.wikidata.org/wiki/Q2334061","display_name":"Design of experiments","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.15510","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15510","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.15510","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15510","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4358379542827606}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,40,53,91,109,181],"quadratic":[4,93],"unconstrained":[5],"binary":[6],"optimization-based":[7],"formulation":[8,76,131,169],"framework":[9,179],"for":[10,173,184],"robot":[11,188],"design":[12,79,99,141,189],"optimization":[13,193],"using":[14],"kinematic":[15,66,186],"structure-level":[16],"evaluation":[17],"metrics.":[18],"In":[19,166],"the":[20,32,64,114,117,126,129,154,161,168],"proposed":[21,75,130,178],"framework,":[22],"classical":[23,110],"computation":[24],"is":[25,37,50,60,101,106,121,171],"used":[26,107],"to":[27,112,124,132],"evaluate":[28],"design-dependent":[29],"metrics":[30],"while":[31],"resulting":[33],"combinatorial":[34,192],"selection":[35,146],"problem":[36,100],"formulated":[38],"in":[39],"structure":[41],"compatible":[42],"with":[43,153],"quantum":[44],"annealing-based":[45,133],"optimization.":[46],"A":[47,95],"robotic":[48,97,175],"hand":[49,98],"adopted":[51],"as":[52,57,108,160],"representative":[54],"case":[55],"study,":[56],"its":[58],"performance":[59],"determined":[61],"by":[62],"both":[63,144],"individual":[65,78],"characteristics":[67],"of":[68,116,128,163],"each":[69],"finger":[70],"and":[71,86,103,147],"interaction":[72],"terms.":[73],"The":[74,136,177],"incorporates":[77],"rewards,":[80],"overlap":[81],"workspace":[82],"interactions,":[83],"one-hot":[84,145],"constraint,":[85],"structural":[87],"dependency":[88],"penalties":[89],"into":[90,191],"unified":[92],"model.":[94],"27-variable":[96],"constructed,":[102],"simulated":[104],"annealing":[105,120],"baseline":[111],"verify":[113],"feasibility":[115],"formulation.":[118],"Quantum":[119],"further":[122],"performed":[123],"examine":[125],"applicability":[127],"hardware":[134],"execution.":[135],"results":[137],"show":[138],"that":[139],"feasible":[140],"combinations":[142],"satisfying":[143],"pairwise":[148],"constraints":[149],"can":[150],"be":[151],"obtained,":[152],"observed":[155],"objective-value":[156],"range":[157],"becoming":[158],"narrower":[159],"number":[162],"reads":[164],"increases.":[165],"addition,":[167],"process":[170],"discussed":[172],"other":[174],"systems.":[176],"provides":[180],"generalized":[182],"approach":[183],"transforming":[185],"structure-based":[187],"problems":[190],"problems.":[194]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-19T00:00:00"}
