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.
HEALPix: A framework for high- resolution discretization and fast analysis of data distributed on the sphere
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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.