3 papers
cs.RO2026
KaRMA: A Kinematic Metric for Fine Manipulation Ability in Robotic Hands
Martin Peticco, Pulkit Agrawal
Traditional robotic hand metrics focus on static properties such as workspace, manipulability, and grasp stability. However, these metrics do not directly measure dexterity under t…
cs.RO2026
DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
Martin Peticco, Gabriella Ulloa, John Marangola +2
Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that li…
cs.RO2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
Nolan Fey, Gabriel B. Margolis, Martin Peticco +1
Achieving athletic loco-manipulation on robots requires moving beyond traditional tracking rewards - which simply guide the robot along a reference trajectory - to task rewards tha…