In robot posture control, calculating inverse kinematics is crucial. For robots with multiple joints, the possible angle combinations are numerous, requiring iterative calculations to minimize the discrepancy from the target position and resulting in a high computational load. For a full-body multi-joint model with 17 joints, equivalent to the number of joints in the human body, the number of possible calculations required are too vast to be solved directly. A common approach has been to perform motion calculations with an approximated 7 joints, but this limits the smoothness of movement.
In this research, a new method leveraging the power of quantum computing has been proposed to address these challenges. The orientation and position of each robot part (link) are represented by qubits, and forward kinematics, i.e., calculation of end-effector position from joint angles, is carried out using quantum circuits. Inverse kinematics calculations are performed on classical computers, achieving efficient posture control through a hybrid quantum-classical approach.