KaRMA: A Kinematic Metric for Fine Manipulation Ability in Robotic Hands

TL;DR

KaRMA is a novel kinematic metric for evaluating fine manipulation ability in robotic hands by measuring reachable in-hand object poses through rolling motions, addressing limitations of static metrics.

Contribution

The paper introduces KaRMA, a kinematic-only metric that quantifies in-hand manipulation capabilities, including translation and rotation, with comprehensive constraints and evaluation on multiple robotic hands.

Findings

KaRMA effectively differentiates hands with similar static metrics.

It reveals translation-rotation tradeoffs unseen by existing metrics.

KaRMA aligns qualitatively with published task benchmarks.

Abstract

Traditional robotic hand metrics focus on static properties such as workspace, manipulability, and grasp stability. However, these metrics do not directly measure dexterity under the standard definition in robotic manipulation: the ability to continuously change an object's pose within the hand while maintaining contact from an initial grasp. We introduce Kinematic Rolling Manipulation Ability (KaRMA), a kinematic-only metric for fine manipulation that quantifies reachable in-hand translation and reorientation of a spherical test object within a two-finger precision pinch through feasible rolling motions. KaRMA enforces joint limits, collision constraints, rolling contact, and antipodal force feasibility, then investigates reachable in-hand object poses via breadth-first search over translation and rotation primitives. KaRMA reports three scores: translational coverage (KaRMA-T), rotational coverage (KaRMA-R), and sensitivity to the initial grasp (KaRMA-S). We evaluate KaRMA on 16 widely used robotic hands and compare against static baselines, showing that KaRMA separates hands that rank identically under static proxies, reveals translation-rotation tradeoffs invisible to existing baselines, and is qualitatively consistent with selected published task benchmarks where Jacobian-based metrics can be misleading.