KaRMA is a kinematic metric that quantifies reachable in-hand translation and reorientation of a spherical object in robotic hands via constrained rolling motions and reports translational coverage, rotational coverage, and sensitivity to initial grasp.
Dexterity measures for the design and control of kinematically redundant manipulators,
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KaRMA: A Kinematic Metric for Fine Manipulation Ability in Robotic Hands
KaRMA is a kinematic metric that quantifies reachable in-hand translation and reorientation of a spherical object in robotic hands via constrained rolling motions and reports translational coverage, rotational coverage, and sensitivity to initial grasp.