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Heat a sauté pan over medium heat and add the olive oil. Sauté the onion until lightly caramelized, 5 to 6 minutes. Stir in the quinoa and toast for 1 minute.
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Add the water, bring to a boil, and then lower the heat to a simmer. Cook, covered, until the water is absorbed, 18 to 20 minutes. Remove from the heat and rest, covered, for 10 minutes.
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Place the cooked quinoa in a food processor and add the black beans, soy sauce, walnuts, garlic, cilantro, cumin and cayenne. Process until finely chopped. Season with salt and pepper. Transfer to a mixing bowl and fold in the flour, panko and eggs.
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Form rounded 1/2 cups of mixture into six (3 1/2 inch diameter) patties, and set them on a parchment-lined tray. Chill at least 10 minutes. (Patties may be individually wrapped and frozen at this point.)
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Heat a griddle over medium heat and brush with grapeseed oil. Place the burgers on the hot griddle, and cook until browned and crisp on the outside and warm all the way through, about 5 minutes per side.
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Place the burgers on the bottom bun, and top with a dollop of Chipotle Aioli.
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Toss the arugula with the lemon juice and olive oil, and season with salt and pepper. Top each burger with the dressed greens, and set the top bun on the burger.
