Diffusion policies achieve 100% success on nominal mortise-tenon timber assembly and 75% average success under randomized 10 mm perturbations using force/torque sensing on an industrial robot.
OPR 081-P00 Anti-collision and overload protection sensor,ht tps://schunk.com/us/en/automation-technology/anti-col lision-unit/opr/c/PGR_1105
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Contact-Rich Robotic Assembly in Construction via Diffusion Policy Learning
Diffusion policies achieve 100% success on nominal mortise-tenon timber assembly and 75% average success under randomized 10 mm perturbations using force/torque sensing on an industrial robot.