Combinatorial Optimization of Robotic Hand Kinematic Structures Using a Potential-Dexterity-Based QUBO Formulation
This research develops a Quadratic Unconstrained Binary Optimization (QUBO) framework to optimize robotic hand designs. It transforms complex choices—selecting finger designs and considering their interactions—into a single mathematical problem solvable by quantum annealing or classical solvers. The method systematically combines performance metrics, workspace overlap, and structural constraints into one objective function for efficient design selection.