Updated on 2024/06/20

写真a

 
DOBASHI Hiroki
 
Name of department
Faculty of Systems Engineering, Mechatronics
Job title
Associate Professor
Concurrent post
Robotics Majaor(Associate Professor)
Mail Address
E-mail address
Profile

He is now an Associate Professor in the Faculty of Systems Engineering, Wakayama University. His current research interests are robotics for manufacturing, logistics and rehabilitation. His major research topic is planning of efficient manipulation strategy of robotic hands in the manufacturing domain.

Homepage
External link

Education

  • 2009
    -
    2012

    Kyoto University   Graduate School of Engineering   Doctoral course, Dept. of Mechanical Engineering and Science  

  • 2007
    -
    2009

    Kyoto University   Graduate School of Engineering   Master course, Department of Mechanical Engineering and Science  

  • 2003
    -
    2007

    Kyoto University   Faculty of Engineering   Undergraduate Department of Engineering Science  

  • 2000
    -
    2003

    Seifunankai Senior High School  

Degree

  • Ph.D. in Engineering   2012

  • Master of Engineering   2009

  • Bachelor of Engineering   2007

Academic & Professional Experience

  • 2023.04
    -
    Now

    Wakayama University   Dept. of Systems Engineering, Faculty of Systems Engineering   Associate Professor

  • 2017.04
    -
    Now

    Ritsumeikan University   Research Organization of Science and Technology   Visiting Researcher

  • 2017.04
    -
    2023.03

    Wakayama University   Dept. of Systems Engineering, Faculty of Systems Engineering   Lecturer

  • 2013.04
    -
    2017.03

    Ritsumeikan University   Dept. of Robotics, Faculty of Science and Engineering   Assistant Professor

  • 2012.04
    -
    2013.03

    Kwansei Gakuin University   School of Science and Technology   Contract assistant

  • 2011.05
    -
    2012.02

    Education and Research Assistant, Department of Mechanical Engineering, Graduate School of Engineering, Kobe University

  • 2010.11
    -
    2011.03

    Office Assistant, Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University

  • 2009.07
    -
    2010.03

    Office Assistant, Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University

  • 2008.10
    -
    2009.03

    Teaching Assistant, Faculty of Engineering, Kyoto University

  • 2008.10
    -
    2009.02

    Kyoto University   Dept. of Mechanical Engineering and Science, Graduate School of Engineering   Research Assistant Staff

  • 2008.01
    -
    2008.03

    Kyoto University   Dept. of Mechanical Engineering and Science, Graduate School of Engineering   Research Assistant Staff

  • 2007.10
    -
    2008.03

    Teaching Assistant, Faculty of Engineering, Kyoto University

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Association Memberships

  • The Japan Society of Mechanical Engineers

  • IEEE

  • The Institute of Systems, Control and Information Engineers (ISCIE)

  • The Robotics Society of Japan

  • The Society of Instrument and Control Engineers

Research Areas

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent systems

  • Informatics / Intelligent robotics

Classes (including Experimental Classes, Seminars, Graduation Thesis Guidance, Graduation Research, and Topical Research)

  • 2023   Graduation Research   Specialized Subjects

  • 2023   Introductory Seminar in Systems Engineering   Specialized Subjects

  • 2023   Graduation Research   Specialized Subjects

  • 2023   Practice for Researches in Mechatronics   Specialized Subjects

  • 2023   Control System Design   Specialized Subjects

  • 2023   Mechanical Design   Specialized Subjects

  • 2023   Application in Information Processing   Specialized Subjects

  • 2022   Graduation Research   Specialized Subjects

  • 2022   Graduation Research   Specialized Subjects

  • 2022   Graduation Research   Specialized Subjects

  • 2022   Control System Design   Specialized Subjects

  • 2022   Application in Information Processing   Specialized Subjects

  • 2022   Practice for Researches in Mechatronics   Specialized Subjects

  • 2022   Mechanical Design   Specialized Subjects

  • 2021   Graduation Research   Specialized Subjects

  • 2021   Application in Information Processing   Specialized Subjects

  • 2021   Graduation Research   Specialized Subjects

  • 2021   Control System Design   Specialized Subjects

  • 2021   Practice for Researches in Mechatronics   Specialized Subjects

  • 2021   Graduation Research   Specialized Subjects

  • 2021   Graduation Research   Specialized Subjects

  • 2021   Mechanical Design   Specialized Subjects

  • 2021   Fundamentals of Robotics   Liberal Arts and Sciences Subjects

  • 2020   Graduation Research   Specialized Subjects

  • 2020   Graduation Research   Specialized Subjects

  • 2020   Introductory Seminar in Systems Engineering   Specialized Subjects

  • 2020   Practice for Researches in Mechatronics   Specialized Subjects

  • 2020   Control System Design   Specialized Subjects

  • 2020   Mechanical Design   Specialized Subjects

  • 2020   Application in Information Processing   Specialized Subjects

  • 2019   Practice in Complex Analysis   Specialized Subjects

  • 2019   Practice for Researches in Mechatronics   Specialized Subjects

  • 2019   Control System Design   Specialized Subjects

  • 2019   Application in Information Processing   Specialized Subjects

  • 2018   Practice in Complex Analysis   Specialized Subjects

  • 2018   Introduction to Majors 1   Specialized Subjects

  • 2018   Control System Design   Specialized Subjects

  • 2018   Introduction to Majors 1   Specialized Subjects

  • 2018   Introductory Seminar in Systems Engineering   Specialized Subjects

  • 2018   Practice for Researches in Mechatronics   Specialized Subjects

  • 2017   Practice for Researches in Mechatronics   Specialized Subjects

  • 2017   Introduction to Majors 1   Liberal Arts and Sciences Subjects

  • 2017   Control System Design   Specialized Subjects

  • 2017   Practice in Complex Analysis   Specialized Subjects

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Classes

  • 2023   Systems Engineering Project SeminarⅡB   Master's Course

  • 2023   Systems Engineering Project SeminarⅡA   Master's Course

  • 2023   Systems Engineering Project SeminarⅠB   Master's Course

  • 2023   Systems Engineering Project SeminarⅠA   Master's Course

  • 2023   Systems Engineering SeminarⅡB   Master's Course

  • 2023   Systems Engineering SeminarⅡA   Master's Course

  • 2023   Systems Engineering SeminarⅠB   Master's Course

  • 2023   Systems Engineering SeminarⅠA   Master's Course

  • 2023   Systems Engineering Advanced Seminar Ⅰ   Doctoral Course

  • 2023   Systems Engineering Advanced Seminar Ⅰ   Doctoral Course

  • 2023   Systems Engineering Advanced Seminar Ⅱ   Doctoral Course

  • 2023   Systems Engineering Advanced Seminar Ⅱ   Doctoral Course

  • 2023   Systems Engineering Advanced Research   Doctoral Course

  • 2023   Systems Engineering Advanced Research   Doctoral Course

  • 2023   Systems Engineering Global Seminar Ⅰ   Doctoral Course

  • 2023   Systems Engineering Global Seminar Ⅰ   Doctoral Course

  • 2023   Systems Engineering Global Seminar Ⅱ   Doctoral Course

  • 2023   Systems Engineering Global Seminar Ⅱ   Doctoral Course

  • 2022   Systems Engineering Global Seminar Ⅱ   Doctoral Course

  • 2022   Systems Engineering Global Seminar Ⅰ   Doctoral Course

  • 2022   Systems Engineering Advanced Research   Doctoral Course

  • 2022   Systems Engineering Advanced Seminar Ⅱ   Doctoral Course

  • 2022   Systems Engineering Advanced Seminar Ⅰ   Doctoral Course

  • 2022   Systems Engineering Project SeminarⅡB   Master's Course

  • 2022   Systems Engineering Project SeminarⅡA   Master's Course

  • 2022   Systems Engineering Project SeminarⅠB   Master's Course

  • 2022   Systems Engineering Project SeminarⅠA   Master's Course

  • 2022   Systems Engineering SeminarⅡB   Master's Course

  • 2022   Systems Engineering SeminarⅡA   Master's Course

  • 2022   Systems Engineering SeminarⅠB   Master's Course

  • 2022   Systems Engineering SeminarⅠA   Master's Course

  • 2021   Systems Engineering Global Seminar Ⅱ   Doctoral Course

  • 2021   Systems Engineering Global Seminar Ⅰ   Doctoral Course

  • 2021   Systems Engineering Advanced Research   Doctoral Course

  • 2021   Systems Engineering Advanced Seminar Ⅱ   Doctoral Course

  • 2021   Systems Engineering Advanced Seminar Ⅰ   Doctoral Course

  • 2021   Systems Engineering Project SeminarⅡB   Master's Course

  • 2021   Systems Engineering Project SeminarⅡA   Master's Course

  • 2021   Systems Engineering Project SeminarⅠB   Master's Course

  • 2021   Systems Engineering Project SeminarⅠA   Master's Course

  • 2021   Systems Engineering SeminarⅡB   Master's Course

  • 2021   Systems Engineering SeminarⅡA   Master's Course

  • 2021   Systems Engineering SeminarⅠB   Master's Course

  • 2021   Systems Engineering SeminarⅠA   Master's Course

  • 2020   Systems Engineering Global Seminar Ⅱ   Doctoral Course

  • 2020   Systems Engineering Global Seminar Ⅰ   Doctoral Course

  • 2020   Systems Engineering Advanced Research   Doctoral Course

  • 2020   Systems Engineering Advanced Seminar Ⅱ   Doctoral Course

  • 2020   Systems Engineering Advanced Seminar Ⅰ   Doctoral Course

  • 2020   Systems Engineering Project SeminarⅡB   Master's Course

  • 2020   Systems Engineering Project SeminarⅡA   Master's Course

  • 2020   Systems Engineering Project SeminarⅠB   Master's Course

  • 2020   Systems Engineering Project SeminarⅠA   Master's Course

  • 2020   Systems Engineering SeminarⅡB   Master's Course

  • 2020   Systems Engineering SeminarⅡA   Master's Course

  • 2020   Systems Engineering SeminarⅠB   Master's Course

  • 2020   Systems Engineering SeminarⅠA   Master's Course

  • 2019   Systems Engineering Advanced Seminar Ⅰ   Doctoral Course

  • 2019   Systems Engineering Advanced Seminar Ⅰ   Doctoral Course

  • 2019   Systems Engineering Advanced Research   Doctoral Course

  • 2019   Systems Engineering Advanced Research   Doctoral Course

  • 2019   Systems Engineering SeminarⅡB   Master's Course

  • 2019   Systems Engineering SeminarⅡA   Master's Course

  • 2019   Systems Engineering SeminarⅠB   Master's Course

  • 2019   Systems Engineering SeminarⅠA   Master's Course

  • 2019   Systems Engineering Project SeminarⅡB   Master's Course

  • 2019   Systems Engineering Project SeminarⅡA   Master's Course

  • 2019   Systems Engineering Project SeminarⅠB   Master's Course

  • 2019   Systems Engineering Project SeminarⅠA   Master's Course

  • 2018   Systems Engineering Global Seminar Ⅱ   Doctoral Course

  • 2018   Systems Engineering Global Seminar Ⅱ   Doctoral Course

  • 2018   Systems Engineering Advanced Research   Doctoral Course

  • 2018   Systems Engineering Advanced Research   Doctoral Course

  • 2018   Systems Engineering Project SeminarⅡB   Master's Course

  • 2018   Systems Engineering Project SeminarⅡA   Master's Course

  • 2018   Systems Engineering Project SeminarⅠB   Master's Course

  • 2018   Systems Engineering Project SeminarⅠA   Master's Course

  • 2018   Systems Engineering SeminarⅡB   Master's Course

  • 2018   Systems Engineering SeminarⅡA   Master's Course

  • 2018   Systems Engineering SeminarⅠB   Master's Course

  • 2018   Systems Engineering SeminarⅠA   Master's Course

  • 2017   Systems Engineering Global Seminar Ⅱ   Doctoral Course

  • 2017   Systems Engineering Global Seminar Ⅱ   Doctoral Course

  • 2017   Systems Engineering Advanced Research   Doctoral Course

  • 2017   Systems Engineering Advanced Research   Doctoral Course

  • 2017   Systems Engineering Advanced Seminar Ⅱ   Doctoral Course

  • 2017   Systems Engineering Advanced Seminar Ⅱ   Doctoral Course

  • 2017   Systems Engineering Advanced Seminar Ⅰ   Doctoral Course

  • 2017   Systems Engineering Advanced Seminar Ⅰ   Doctoral Course

  • 2017   Systems Engineering Project SeminarⅡB   Master's Course

  • 2017   Systems Engineering Project SeminarⅡA   Master's Course

  • 2017   Systems Engineering Project SeminarⅠB   Master's Course

  • 2017   Systems Engineering Project SeminarⅠA   Master's Course

  • 2017   Systems Engineering SeminarⅡB   Master's Course

  • 2017   Systems Engineering SeminarⅡA   Master's Course

  • 2017   Systems Engineering SeminarⅠB   Master's Course

  • 2017   Systems Engineering SeminarⅠA   Master's Course

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Satellite Courses

  • 2018   Instrument and Control in Daily Life  

Research Interests

  • Robotic hand

  • Alignment

  • Grasping strategy

  • Manipulation

  • Robotic cell production system

  • Assembly task

▼display all

Published Papers

  • Quasi-Static Analysis of Orientational Alignment of a 2-D Part toward a 2nd-order Form Closure Grasp with Circular Fingers

    Hiroki Dobashi, Shoma Sumi, Masaya Minami (Part: Lead author, Corresponding author )

    Proc. of the 20th IEEE/ASME International Conference on Mechatronic, Embedded Systems and Applications (MESA 2024) ( IEEE/ASME )  (accepted)   2024.09  [Refereed]

  • Study on Feasibility of Alignment of Parts for 2nd-order Form Closure Grasps with Circular Fingers Based on Dynamic Analysis

    Shoma Sumi, Masaya Minami, Hiroki Dobashi (Part: Last author, Corresponding author )

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  42 ( 3 ) 291 - 294   2024.04  [Refereed]

  • Development of a Versatile Robotic Hand toward Jig-less Assembly of a Shaft-shaped Part

    Kohei Shibata, Hiroki Dobashi (Part: Last author, Corresponding author )

    IEEE Robotics and Automation Letters ( IEEE )  9 ( 2 ) 1222 - 1229   2024.02  [Refereed]

    DOI

  • Reorientation of a Part by Parallel Gripper Allowing Interference with the Gripper Jaw and Release in an Unstable Orientation

    Daiki Saito, Hiroki Dobashi (Part: Last author, Corresponding author )

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  42 ( 1 ) 90 - 93   2024.01  [Refereed]

  • Jig-less Assembly of a Gear Unit with a Versatile Hand Equipped with Functions for Reorientation and Alignment of a Shaft-shaped Part

    Kohei Shibata, Hiroki Dobashi (Part: Last author, Corresponding author )

    Journal of the Robotics Society of Japan (accepted) ( The Robotics Society of Japan )    2024  [Refereed]

  • Development of a Precise Measurement Device with a Flatbed Scanner for the Pose of a Part in Alignment Operations

    Misuzu Une, Hiroki Dobashi (Part: Last author, Corresponding author )

    Journal of the Robotics Society of Japan (accepted) ( The Robotics Society of Japan )    2024  [Refereed]

  • Study on a Method to Derive the Optimal Grasping Points for an Object with Indeterminate Center of Gravity

    Hiroki Naotaka, Hiroki Dobashi (Part: Last author, Corresponding author )

    Journal of the Robotics Society of Japan (accepted) ( The Robotics Society of Japan )    2024  [Refereed]

  • Design of Gripper Jaws Applicable to Multiple Sizes and Types of Bowls for Upside-down Placement in a Dishwasher Rack

    Shoa Otsuji, Hiroki Dobashi (Part: Last author, Corresponding author )

    Journal of the Robotics Society of Japan (accepted) ( The Robotics Society of Japan )    2024  [Refereed]

  • Analysis of the Performance of Robotic Assembly Systems Considering the Usage of Tools or Jigs for the Task-board Task in the WRS 2018

    Hiroki Dobashi, Koki Ogawa, Mizuho Shibata, Wataru Uemura, Yasuyoshi Yokokohji (Part: Lead author, Corresponding author )

    Advanced Robotics ( Taylor & Francis )  37 ( 20 ) 1329 - 1346   2023.10  [Refereed]

    DOI

  • Derivation of a Permissible Initial Pose Error Region of a Part to be Grasped based on the Dynamic Pushing Operation Analysis Considering Wobbling

    Nguyen Trung Thanh, H.Dobashi (Part: Last author, Corresponding author )

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  41 ( 8 ) 720 - 723   2023.10  [Refereed]

  • Jigless Assembly of an Industrial Product by a Universal Robotic Hand Mounted on an Industrial Robot

    Takahito Fukuda, Hiroki Dobashi, Hikaru Nagano, lYuichi Tazaki, Raita Katayama, Yasuyoshi Yokokohji (Part: Corresponding author )

    Robotica ( Cambridge University Press )  41 ( 8 ) 2464 - 2488   2023.07  [Refereed]

    DOI

  • Search Method of Stable Grasping Points for Grasping and High-Speed Transporting of Food

    T. Yamamoto, H. Dobashi, S. Matsuoka, K. Shiratsuchi (Part: Corresponding author )

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  41 ( 5 ) 489 - 492   2023.06  [Refereed]

    DOI

  • Planning of Robust Grasping Strategy of Cylindrical Parts in Contact with Inner Sides of a Parts Tray Using a Versatile Robotic Hand with Parallel Stick Fingers

    Yuka Kanaya, Hiroki Dobashi (Part: Last author, Corresponding author )

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  41 ( 2 ) 202 - 205   2023.03  [Refereed]

  • Study on Jig-less Assembly of Shaft-shaped Parts with an Improved Versatile Hand with Parallel Stick Fingers

    Hiroki Dobashi, Kohei Shibata, Tetsuya Yamaguchi (Part: Lead author, Corresponding author )

    Proc. of the 2023 IEEE/SICE International Symposium on System Integration (SII 2023) ( IEEE )    606 - 612   2023.01  [Refereed]

  • World Robot Summit 2020 Assembly Challenge -Summary of the Competition and Its Outcomes-

    Yasuyoshi Yokokohji, Yoshihiro Kawai, Mizuho Shibata, Yasumichi Aiyama, Shinya Kotosaka, Wataru Uemura, Akio Noda, Hiroki Dobashi, Takeshi Sakaguchi, Yusuke Maeda, Kazuhito Yokoi

    Advanced Robotics ( TAYLOR & FRANCIS LTD )  36 ( 22 ) 1174 - 1193   2022.11  [Refereed]

     View Summary

    The World Robot Summit (WRS) is a robotic 'challenge and exposition' organized by the Japanese government to accelerate social implementation, research and development of robots working in realistic daily life, society, and industrial fields. In this paper, we introduce a robot competition of the Industrial Robotics Category of the WRS, called 'Assembly Challenge', which is organized by the WRS Industrial Robotics Competition Committee in order to promote the development of the next-generation production systems that can respond to new production demands in agile and lean manners. After the pre-competition held in Tokyo in October 2018, the main competition, the WRS 2020, was originally scheduled to be held in Aichi (partly in Fukushima) in 2020, which was also the Olympic year. However, due to the pandemic of COVID-19, the event was postponed, and the competition was actually held in Aichi in September 2021. In this paper, we introduce the contents and results of the WRS 2020 and analyze the results. We would also like to summarize the 5-year project since 2017 and discuss the outcomes of the WRS.

    DOI

  • Task board for the World Robot Summit 2020

    Mizuho Shibata, Hiroki Dobashi, Wataru Uemura, Shinya Kotosaka, Yusuke Maeda, Yasumichi Aiyama, Takeshi Sakaguchi, Yoshihiro Kawai, Akio Noda, Kazuhito Yokoi, Yasuyoshi Yokokohji

    Advanced Robotics ( TAYLOR & FRANCIS LTD )  36 ( 22 ) 1194 - 1212   2022.11  [Refereed]

     View Summary

    The World Robot Summit (WRS) Industrial Robotics Category tries to evaluate the performances of assembly robot systems using a task board. The task board comprises an assembly board (task board or board) and a set of parts assembled to the board. Utilizing an appropriate task board expects to facilitate the development of assembly robot systems. This paper examines the components necessary for the design of the task board through the results and analyzes of the task board competition in the WRS 2020 (held in September 2021). The task board will serve as a benchmark in developing an assembly robot system that can assemble the belt drive unit, an assembly model for the WRS 2020 assembly competitions. The success rate of each part of the competition and the correlation with assembly competitions reinforces the validity of the task board design. This paper describes that the WRS 2020 task board had a larger correlation with the belt drive unit used in the assembly competitions than that of the WRS 2018 (0.54 vs. 0.29). The design in the WRS 2020 is more appropriate than that in the WRS 2018 as a benchmark for assembling the belt drive unit.

    DOI

  • Fundamental Study on the Feasibility of Alignment of Parts for 2nd-order Form Closure Grasps by Two Circular Fingers

    Masaya Minami, Hiroki Dobashi (Part: Last author, Corresponding author )

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  40 ( 5 ) 453 - 456   2022.06  [Refereed]

    DOI

  • Robust Assembly Strategy of a Timing Belt in the Belt Drive Unit against its Shape Uncertainty with a Single Parallel Jaw Gripper

    Kazuki Nishimura, Hiroki Dobashi (Part: Last author, Corresponding author )

    Advanced Robotics   36 ( 9 ) 450 - 461   2022.03  [Refereed]

    DOI

  • Case Study on a Grasping Strategy of a Cylindrical Part along Inner Sides of a Parts Tray Using a Parallel Stick Fingered Hand

    Yuka Kanaya, Hiroki Dobashi (Part: Last author )

    Proc. of the 2022 IEEE/SICE International Symposium on System Integration (SII 2022)     640 - 644   2022.01  [Refereed]

  • A Work Time Calculation Method of Parts Alignment Robots Using State Transition Speed Diagram

    Kiyoshi Nagai, Kairi Nishimura, Takeshi Sakurada, Hiroki Dobashi, Tsuneo Yoshikawa

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  39 ( 7 ) 645 - 652   2021.09  [Refereed]

    DOI

  • Analysis of Multi-arm Robot Assembly Using a Task Board for the World Robot Summit 2018

    Mizuho Shibata, Hiroki Dobashi, Wataru Uemura, Yasuyoshi Yokokohji

    Transactions of the Institute of Systems, Control and Information Engineers   34 ( 4 ) 98 - 106   2021.04  [Refereed]

  • Optimal Design of Rotational Chuck-type Hand with Three Parallel Stick Fingers for Assembly Tasks through Grasp Optimization

    Masaya Fukunishi, Hiroki Dobashi, Yasuyoshi Yokokohji (Part: Corresponding author )

    Proc. of the 2021 IEEE/SICE International Symposium on System Integration (SII 2021) ( IEEE )    623 - 627   2021.01  [Refereed]

     View Summary

    For realizing a versatile, flexible robotic assembly system, the development of a versatile robotic hand with a minimally necessary mechanism which can grasp all the target parts and perform jig-less assembly of them is desired. Considering a rotational chuck-type hand with three parallel stick fingers as one possible solution, this paper presents a method to design an optimal mechanism of the hand through grasp optimization under a required external wrench set, and a hand mechanism for the assembly of target parts is actually designed with the proposed method.

    DOI

  • Study on Generality of Roller Chain Assembly Strategy with Parallel Jaw Gripper

    Keiki Tatemura, Hiroki Dobashi (Part: Last author, Corresponding author )

    Proc. of the 2021 IEEE/SICE International Symposium on System Integration (SII 2021)     580 - 581   2021.01  [Refereed]

  • Strategy for Roller Chain Assembly with Parallel Jaw Gripper

    Keiki Tatemura, Hiroki Dobashi (Part: Last author, Corresponding author )

    IEEE Robotics and Automation Letters ( IEEE )  5 ( 2 ) 2435 - 2442   2020.04  [Refereed]

  • Task-board task for assembling a belt drive unit

    Mizuho Shibata, Hiroki Dobashi, Wataru Uemura, Shinya Kotosaka, Yasumichi Aiyama, Takeshi Sakaguchi, Yoshihiro Kawai, Akio Noda, Kazuhito Yokoi, Yasuyoshi Yokokohji

    Advanced Robotics ( TAYLOR & FRANCIS LTD )  34 ( 7-8 ) 454 - 476   2020.01  [Refereed]

     View Summary

    A task board is a board for assembling parts, developed to test the abilities of a robot system to perform assembly operations associated with a manufacturing process. This study describes a task board that can serve as a basis for developing program modules for assembling a specific product. A properly designed task board can serve as a preliminary template for a specific assembly and can promote robotic assembly. This study analyzes the design of a Task-board task performed at the World Robot Summit 2018 (WRS 2018). The main competitive task at the WRS 2018 was the assembly of a belt drive unit. Analyses showed that the directions of assembly, especially the horizontal direction, were common difficulties in both Task-board and Assembly task competitions. Development of a task board for a specific assembly product requires an increase of its relevance to the assembly product, such as using the same workpieces or using similar assembly orientations.

    DOI

  • Minimization of Actuator's Driving Force of Chuck-type Hand with Three Parallel Stick Fingers through Grasp Optimization.

    Hiroki Dobashi, Masaya Fukunishi, Masaya Minami, Yasuyoshi Yokokohji (Part: Lead author, Corresponding author )

    Proc. of the 2020 IEEE/SICE International Symposium on System Integration (SII 2020) ( IEEE )    1180 - 1186   2020.01  [Refereed]

    DOI

  • Analysis and Consideration of Side Bow for Roller Chain Assembly

    Keiki Tatemura, Hiroki Dobashi (Part: Last author )

    Webpage of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) Workshop     1 - 2   2019.11  [Refereed]

  • Assembly Challenge: a robot competition of the Industrial Robotics Category, World Robot Summit - summary of the pre-competition in 2018.

    Yasuyoshi Yokokohji, Yoshihiro Kawai, Mizuho Shibata, Yasumichi Aiyama, Shinya Kotosaka, Wataru Uemura, Akio Noda, Hiroki Dobashi, Takeshi Sakaguchi, Kazuhito Yokoi

    Advanced Robotics   33 ( 17 ) 876 - 899   2019.09  [Refereed]

    DOI

  • “Assembly Challenge”, a Robot Competition of the Industrial Robotics Category, World Robot Summit 2018

    Yokokohji Yasuyoshi, Yokoi Kazuhito, Kawai Yoshihiro, Shibata Mizuho, Aiyama Yasumichi, Kotosaka Shinya, Uemura Wataru, Noda Akio, Dobashi Hiroki, Sakaguchi Takeshi

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  37 ( 3 ) 208 - 217   2019.04  [Refereed]

     View Summary

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    DOI

  • Geometrical Solution of Finger Arrangement Problem onto Target Part toward Design of Chuck-type Hand with Three Parallel Stick Fingers.

    Hiroki Dobashi, Masaya Fukunishi, Yasuyoshi Yokokohji (Part: Lead author, Corresponding author )

    Proc. of the 2019 IEEE/SICE International Symposium on System Integration (SII 2019) ( IEEE )    422 - 426   2019.01  [Refereed]

    DOI

  • Utilization of kinematical redundancy of a rehabilitation robot to produce compliant motions under limitation on actuator performance.

    Takaaki Goto, Hiroki Dobashi, Tsuneo Yoshikawa, Rui C. V. Loureiro, William S. Harwin, Yuga Miyamura, Kiyoshi Nagai

    Proc. of the 15th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2017) ( IEEE )    646 - 651   2017.07  [Refereed]

    DOI

  • Configuration of redundant drive wire mechanism using double actuator modules

    Tam Nhat Le, Hiroki Dobashi, Kiyoshi Nagai

    ROBOMECH Journal ( Springer International Publishing )  3 ( 25 ) 1 - 16   2016.12  [Refereed]

     View Summary

    A new wire mechanism called “redundant drive wire mechanism” (RDWM), driven by double actuator modules (DAMs) is introduced. When RDWM is used for producing multi-directional motions using DAMs, the number of wires increases and the wire matrix would become complicated. This makes finding and checking the candidates difficult. Therefore, we introduce an easier and simpler approach for judging RDWM candidates, which includes two procedures: conversion of the wire matrix to a new form, and judgment of candidates using the essential component of the new form of wire matrix related to the global motion. This paper shows a fast and convenient method for judging whether an RDWM candidate can produce the resultant forces needed to achieve required motions. The examples demonstrate the validity of the new method in dealing with RDWM candidates containing many wires.

    DOI

  • Orientational transition analysis toward reorientation of parts by parallel gripper allowing release motion in unstable orientations.

    Hiroki Dobashi, Hayato Kawai (Part: Lead author, Corresponding author )

    Proc. of the 2016 IEEE/SICE International Symposium on System Integration (SII 2016) ( IEEE )    87 - 94   2016.12  [Refereed]

    DOI

  • Study on Reorientation of Parts by Parallel Gripper Allowing Release Motion in Unstable Orientations

    Hiroki Dobashi, Hayato Kawai (Part: Lead author, Corresponding author )

    Webpage of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) Workshop     1 - 2   2016.10  [Refereed]

  • Kinematical and Static Force Analysis on Redundant Drive Wire Mechanism with Velocity Constraint Modules to Reduce the Number of Actuators

    Tam Nhat Le, Hiroki Dobashi, Kiyoshi Nagai

    ROBOMECH Journal   3 ( 22 ) 1 - 22   2016.09  [Refereed]

    DOI

  • Introducing Kinematical Redundant Degree of Freedom into High Speed Parallel Mechanism with Driving Force Redundancy for Producing Precise Motions

    Kiyoshi Nagai, Hiroki Dobashi, Takahito Sashinaka, Kousuke Yamaguchi

    Journal of Robotics Society of Japan   33 ( 5 ) 379 - 386   2015.06  [Refereed]

    DOI

  • Optimization of Grasping of 3-D Parts by Universal Robotic Hand with Parallel Stick Fingers for Assembly Tasks

    Hiroki Dobashi, Wataru Kamioka, Takanori Fukao, Yasuyoshi Yokokohji, Akio Noda, Hikaru Nagano, Tatsuya Nagatani (Part: Lead author, Corresponding author )

    Transactions of the Institute of Systems, Control and Information Engineers ( THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE) )  28 ( 6 ) 258 - 266   2015  [Refereed]

     View Summary

    In a robotic cell, assembly robots have to grasp parts in various shapes of a target product accurately and robustly against some external wrenches (i.e., forces and moments) exerted on the parts in order to ensure assembly tasks. Assuming the use of a universal robotic hand with multiple fingers for this purpose, it is desirable that necessary finger forces are as small as possible. From this point of view, in this paper, we consider grasping of three-dimensional parts by a universal robotic hand with parallel stick fingers, and propose a method to optimize the grasping under a given required external wrench set. The utility of the proposed method is shown with numerical examples.

    DOI

  • Feasibility Study on EEG Driven Robotic System to Realize Efficient Stroke Rehabilitation

    Kiyoshi Nagai, Takaaki Gato, Takuya Shimizu, Hiroki Dobashi, Koji Ito, Yoshikatsu Hayashi, Rui C. V. Loureiro, Slawoinir J. Nasuto, William S. Harwin

    PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015) ( IEEE )    199 - 204   2015  [Refereed]

     View Summary

    We aim to develop an efficient robotic system for stroke rehabilitation, in which a robotic arm moves the hemiplegic upper limb when the patient tries to move it. In order to achieve this goal we have considered a method to detect the motion intention of the patient using EEG (Electroencephalogram), and have designed a rehabilitation robot based on a Redundant Drive Method. In this paper, we propose an EEG driven rehabilitation robot system and present initial results evaluating the feasibility of the proposed system.

  • Consideration on a New BCI Method Using EEG to Detect Motion Intention

    Takuya Shimizu, Hiroki Dobashi, Koji Ito, Kiyoshi Nagai

    Proc. of the 2014 IEEE/SICE International Symposium on System Integration (SII 2014)     785 - 789   2014.12  [Refereed]

  • Consideration on Mechanical Properties of a Redundant Drive Manipulator for Reducing the Endpoint Inertia

    Takaaki Goto, Hiroki Dobashi, Kiyoshi Nagai

    Proc. of the 2014 IEEE/SICE International Symposium on System Integration (SII 2014)     767 - 772   2014.12  [Refereed]

  • Design of a Peristaltic Crawling Robot Using 3-D Link mechanisms

    Norihiko Saga, Satoshi Tesen, Hiroki Dobashi, Jun-ya Nagase

    International Journal of Biomechatronics and Biomedical Robotics   2 ( 2/3/4 ) 111 - 117   2014.01  [Refereed]

    DOI

  • Effects of Knee Alignment on Human Gait Based on Wireless Sensors

    Norihiko Saga, Saeko Irie, Yasutaka Nakanishi, Hiroki Dobashi, Akitoshi Sogabe

    International Journal of Biomechatronics and Biomedical Robotics   2 ( 2/3/4 ) 118 - 123   2014.01  [Refereed]

    DOI

  • Robust grasping strategy for assembling parts in various shapes

    Hiroki Dobashi, Junichi Hiraoka, Takanori Fukao, Yasuyoshi Yokokohji, Akio Noda, Hikaru Nagano, Tatsuya Nagatani, Haruhisa Okuda, Ken-ichi Tanaka (Part: Lead author, Corresponding author )

    Advanced Robotics ( TAYLOR & FRANCIS LTD )  28 ( 15 ) 1005 - 1019   2014  [Refereed]

     View Summary

    In a robotic cell, assembly robots have to grasp parts in various shapes robustly and accurately even under some uncertainties in the initial poses of the parts. For this purpose, it is necessary to develop a universal robotic hand and robust grasping strategies, i.e. finger motions that can achieve planned grasping robustly against the initial pose uncertainty of parts. In this paper, we propose a methodology to plan robust grasping strategies of a universal robotic hand for assembling parts in various shapes. In our approach, parts are aligned toward planned configurations during grasping actions, and the robustness of grasping strategies is analyzed and evaluated based on pushing operation analysis. As an application example, we plan robust grasping strategies for assembling a three-dimensional puzzle, and experimentally verify the robustness and effectiveness of the planned strategies for this assembly task.

    DOI

  • Influence of Lower Extremity Alignment on Human Gait Based on Wireless Sensors

    Norihiko Saga, Saeko Irie, Hiroki Dobashi, Kiyoshi Maehara, Akitoshi Sogabe

    2012 19TH INTERNATIONAL CONFERENCE MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) ( IEEE )    270 - 274   2012  [Refereed]

     View Summary

    This study was conducted to measure human gait locomotion according to different lower extremity alignments, and to assess the alignment effects on knees and leg muscles. We analyzed the movements of a walking person, particularly assessing the ground reaction force and muscle potential. Patients were separated into three groups by knee arrangement as normal, genu varum, and genu valgum. After fitting markers to the patients, motion capture imaging was used to analyze their movements. Thereby, we ascertained the locus of the knee-joint marker. Different movement features were clarified when we observed a front view of each knee-type. Next, we measured the ground reaction force using a tactile sensor, which revealed no great difference in the results among these knee types. Finally, we measured the muscle potential. Results of the vastus medialis, vastus lateralis, gastrocnemius medialis and adductor longus reveal differences among knee types.

  • Acquisition of a peristaltic crawling robot's motion pattern using reinforcement learning.

    Satoshi Tesen, Norihiko Saga, Hiroki Dobashi, Jun-Ya Nagase

    Proc. of the 6th International Conference on Soft Computing and Intelligent Systems (SCIS) and 13th International Symposium on Advanced Intelligent Systems (ISIS) ( IEEE )    1462 - 1466   2012  [Refereed]

    DOI

  • Design of a Three Dimensional Running Peristaltic Crawling Robot

    Satoshi Tesen, Norihiko Saga, Hiroki Dobashi, Jun-ya Nagase

    2012 19TH INTERNATIONAL CONFERENCE MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) ( IEEE )    456 - 459   2012  [Refereed]

     View Summary

    In disaster areas, rescue work by humans is extremely difficult and dangerous. Therefore, rescue work using rescue robots in place of humans is attracting attention. This study specifically examines peristaltic crawling, the movement technique used by earthworms, because it can enable movement through narrow spaces and because it can provide stable movement even in various difficult environments. Moreover, we designed each part of the robot based on required specifications and developed a real robot. We present results of motion experiments conducted with robot movement on level ground.

  • Multi-fingered Hand Grasping Simulation Based on Quasi-Static Pushing Operation Analysis and Derivation of Permissible Initial Error Regions of an Object

    DOBASHI Hiroki, YOKOKOHJI Yasuyoshi, NODA Akio, OKUDA Haruhisa (Part: Lead author, Corresponding author )

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  28 ( 10 ) 1201 - 1212   2010.12  [Refereed]

     View Summary

    In a robotic cell production system, an assembly robot has to grasp various parts with a planned pose relative to its end effector robustly from the initial poses even with some uncertainties. For this purpose, it is necessary to design robust grasping strategy. In this paper, we propose a method to simulate multi-fingered hand grasping as a tool for designing robust grasping strategy. Acknowledging that pushing is the most primitive operation when a hand grasps a part on a flat floor, pushing operations are analyzed under the quasi-static condition. Based on the analysis, it is possible to simulate multi-fingered hand grasping and find a permissible error region of the object pose from which a planned grasping is guaranteed. Some examples of the simulation and permissible initial error regions are shown. It is also shown that experimentally obtained permissible initial error regions are almost identical to the theoretical one.

    DOI

  • Derivation of optimal robust grasping strategy under initial object pose errors.

    Hiroki Dobashi, Akio Noda, Yasuyoshi Yokokohji, Hikaru Nagano, Tatsuya Nagatani, Haruhisa Okuda (Part: Lead author, Corresponding author )

    Proc. of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) ( IEEE )    2096 - 2102   2010.10  [Refereed]

    DOI

  • Intelligent Robot Technologies for Cell Production System

    Akio Noda, Kenichi Tanaka, Haruhisa Okuda, Tatsuya Nagatani, Y. Kitaaki, Y. Domae, Hiroki Dobashi, Yasuyoshi Yokokohji, Kohei Kurono, Yukio Horiguchi, Hiroaki Nakanishi, Tetsuo Sawaragi, K. Isomura, H. Utsuno, H. Matsuhisa, S. Kazama, T. Kohda

    Proc. of the 2010 International Symposium on Flexible Automation (ISFA 2010)     JPS-2562   2010.07  [Refereed]

  • Permissible Initial Pose Error Region of an Object Grasped by a Universal Hand

    Hiroki Dobashi, Yasuyoshi Yokokohji, Akio Noda, Haruhisa Okuda (Part: Lead author, Corresponding author )

    Proc. of the 2010 International Symposium on Flexible Automation (ISFA 2010)     JPL-2452   2010.07  [Refereed]

  • Development of a Versatile Robotic Hand toward Jig-less Assembly of a Shaft-shaped Part

    Kohei Shibata, Hiroki Dobashi (Part: Last author, Corresponding author )

    Proc. of the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) ( IEEE )    2024.05  [Refereed]

  • Strategy for Roller Chain Assembly with Parallel Jaw Gripper

    Keiki Tatemura, Hiroki Dobashi (Part: Last author, Corresponding author )

    Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA 2020)     2020.06  [Refereed]

  • NEW DESIGN OF PERISTALTIC CRAWLING ROBOT WITH AN EARTHWORM MUSCULAR STRUCTURE

    Hikaru Nozaki, Satoshi Tesen, Norihiko Saga, Hiroki Dobashi, Jun-Ya Nagase

    NATURE INSPIRED MOBILE ROBOTICS ( WORLD SCIENTIFIC PUBL CO PTE LTD )    392 - 398   2013  [Refereed]

     View Summary

    In recent years, in consideration of the danger of secondary disaster in disaster areas, the development of rescue robots has been anticipated. We have devoted attention to the mechanism of peristalsis performed by earthworms and developed a robot using the mechanism based on the following three points. First, earthworms require no large spaces in which to move. Second, the posture of earthworms is stable. Finally, the migratory mechanism of earthworms is simple. Devoting attention to earthworm muscle structures of two kinds, we developed a robot that recreates the earthworm muscle motion using actuators of two kinds. The salient feature of this mechanism is that the robot is always able to move a fixed distance, even in a narrow space using linear actuators. Herein, we propose the robot mechanism and examine the robot motion patterns.

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Books etc

  • Robot Mechanics (revised edition)

    K. Nagai, H. Dobashi( Part: Joint author)

    Corona Publishing Co., Ltd.  2023.10  ISBN: 9784339045093

  • Robot Mechanics

    K. Nagai, H. Dobashi( Part: Joint author)

    Corona Publishing Co., Ltd.  2015.09  ISBN: 9784339045192

Misc

  • A Robotic Hand Mechanism and a Grasp Planning Method to Realize Sensor-less Grasping

    Hiroki Dobashi (Part: Lead author, Last author, Corresponding author )

    Mechanical Design ( The Nikkan Kogyo Shimbun )  67 ( 13 ) 28 - 31   2023.11  [Invited]

  • Evaluation Technology of Robotic Systems utilizing the Task Board

    Mizuho Shibata, Hiroki Dobashi

    Measurement and Control ( The Society of Instrument and Control Engineers (SICE) )  61 ( 7 ) 484 - 487   2022.07  [Refereed]

  • Versatile Hand with Four Telescopic Fingers

    The Nikkan Kogyo Shimbun     2023.09

  • Attaching Flexible Belt

    The Nikkan Kogyo Shimbun     2022.04

  • Robotics which will bloom and bear fruit (the second part)

    SEISANZAI Marketing Magazine ( News Digest Publishing Co. Ltd. )  58 ( 9 ) A-100   2021.09

  • Robotics which will bloom and bear fruit (the first part)

    SEISANZAI Marketing Magazine ( News Digest Publishing Co. Ltd. )  58 ( 8 ) A-110   2021.08

  • Installing Roller Chain by Robot

    The Nikkan Kogyo Shimbun     2020.03

  • Origin of the Future #300

    Origin of the Future     2019.01

  • Development of Four-fingered Hand

    The Nikkan Kogyo Shimbun     2018.09

  • Simple Structured Robotic Hand

    The Nikkei Business Daily     2018.08

  • J103011 Influence on Human Gait by the Differences of Knee Alignment

    IRIE Saeko, DOBASHI Hiroki, SAGA Norihiko, MAEHARA Kiyoshi, NAKAMURA Hiroaki, SOGABE Akitoshi

    Mechanical Engineering Congress, Japan ( The Japan Society of Mechanical Engineers )  2012   "J103011 - 1"-"J103011-5"   2012.09

     View Summary

    This study has aimed to measure human gait locomotion by considering differences of leg alignment, and to consider the influences on knees and leg muscles. We have analyzed the movement of a person walking and measured the ground reaction force and the muscle potential. We also divided all of the patients into three groups by the arrangement of the knee, normal, bow-legs, and knock-knees. By fitting markers on the patient, we used the motion capture to analyze the movement.As we figured out the locus of the knee-joint marker, when we saw the front view of each knee-type, the different movement feature potentially stood out. Next, we measured the ground reaction force by using a tactile sensor. We found there is not a big difference in the result with the knee-types. However, we found that the normal-knee and knock-knees have a large ground reaction force value j ust before the foot has ungrounded when walking. At last, we measured muscle potential . The results of rectus femoris, Biceps femoris and caput mediale musculi gastrocnemii show differences of each knee-type.

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Awards & Honors

  • 2024 IEEE Robotics and Automation Society Japan Joint Chapter Young Award (ICRA 2024)

    Winner: Kohei Shibata, supervised by Hiroki Dobashi

    2024.05   IEEE Robotics and Automation Society Japan Joint Chapter   Development of a Versatile Robotic Hand Toward Jig-less Assembly of a Shaft-shaped Part

  • The 37th Best Paper Award

    Winner: K. Nagai, K, Nishimura, T. Sakurada, H. Dobashi, T. Yoshikawa

    2023.09   The Robotics Society of Japan (RSJ)   A Work Time Calculation Method of Parts Alignment Robots Using State Transition Speed Diagram

  • Best Session Presentation Award of the 23rd SICE System Integration Division Annual Conference

    Winner: K. Ogawa, H. Dobashi, M. Shibata, W. Uemura, Y. Yokokohji

    2022.12   SICE (the Society of Instrument and Control Engineers)   Analysis of the Robotic Assembly for the Task-board Task in the WRS 2020

  • Best Paper Award in the Department of Systems Engineering, Wakayama University

    Winner: Hiroki Dobashi

    2022.10   Faculty of Systems Engineering, Wakayama University   Robust Assembly Strategy of a Timing Belt in the Belt Drive Unit against its Shape Uncertainty with a Single Parallel Jaw Gripper

  • Best Session Presentation Award of the 22nd SICE System Integration Division Annual Conference

    Winner: K. Shibata, H. Dobashi

    2021.12   SICE (the Society of Instrument and Control Engineers)   Development of Finger Mechanism of a Versatile Robotic Hand for Jig-less Assembly of a Shaft-shaped Part

  • Best Session Presentation Award of the 22nd SICE System Integration Division Annual Conference

    Winner: M. Shibata, H. Dobashi, W. Uemura, Y. Yokokohji

    2021.12   SICE (the Society of Instrument and Control Engineers)   Summary of "Task-board task" in the Industrial Robotics Category, World Robot Summit 2020

  • Best Session Presentation Award of the 21st SICE System Integration Division Annual Conference

    Winner: M. Minami, H. Dobashi

    2020.12   SICE (the Society of Instrument and Control Engineers)   Study on Feasibility of Alignment for 2nd-Order Form Closure Grasp by Robotic Hand with Parallel Stick Fingers

  • Encouragement Award in the 6th Mukaidono Safety Awards

    Winner: Industrial Robotics Competition Committee in the World Robot Summit

    2020.11   The Institute of Global Safety Promotion   Industrial Robotics Trial Competition in the World Robot Summit 2019

  • SCI Student Presentation Award of the 64th Annual Conference of ISCIE (SCI'20)

    Winner: Kazuki Nishimura (supervised by Hiroki Dobashi)

    2020.05   ISCIE (the Institute of Systems, Control and Information Engineers)   Form Measurement of Timing Belt toward Automatic Assembly Independent of Individual Differences with Parallel Gripper

  • JSME Young Engineers Award

    Winner: Hiroki Dobashi

    2020.04   The Japan Society of Mechanical Engineers   Mechanical Design of Robotic Hand and Planning of Grasp and Manipulation for Versatile Automatic Assembly System

  • Best Session Presentation Award of the 20th SICE System Integration Division Annual Conference

    Winner: T. Yamaguchi, H. Dobashi

    2019.12   SICE (the Society of Instrument and Control Engineers)   Development of Versatile Robotic Hand to Realize Picking, Reorientation and Alignment of Shaft-shaped Part without Utilizing Environment

  • Best Session Presentation Award of the 19th SICE System Integration Division Annual Conference

    Winner: Y. Yamamoto, H. Dobashi

    2019.03   SICE (the Society of Instrument and Control Engineers)   Wobble Judgment of 3-D Part in Pushing Operation by Stick Finger Considering Admissible Motion

  • The 2016 best paper award of ISCIE

    Winner: Hiroki Dobashi, Wataru Kamioka, Takanori Fukao, Yasuyoshi Yokokohji, Akio Noda, Hikaru Nagano, Tatsuya Nagatani

    2016.05   ISCIE (the Institute of Systems, Control and Information Engineers)   Optimization of Grasping of 3-D Parts by Universal Robotic Hand with Parallel Stick Fingers for Assembly Tasks

  • Best Session Presentation Award of the 14th SICE System Integration Division Annual Conference

    2013.12   SICE (the Society of Instrument and Control Engineers)  

  • The 27th Young Investigation Excellence Award from the Robotics Society of Japan

    Winner: H. Dobashi

    2012.09   The Robotics Society of Japan (RSJ)  

  • The 2011 Research Promotion Prize from the Society of Instrument and Control Engineers

    2012.02   SICE (the Society of Instrument and Control Engineers)  

  • The Best Session Presentation Award of the 12th Annual Conference of System Integration Division, the Society of Instrument and Control Engineers

    2011.12   SICE (the Society of Instrument and Control Engineers)  

  • The Best Session Presentation Award of the 11th Annual Conference of System Integration Division, the Society of Instrument and Control Engineers

    2010.12   SICE (the Society of Instrument and Control Engineers)  

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Conference Activities & Talks

  • Quasi-Static Analysis of Orientational Alignment of a 2-D Part toward a 2nd-order Form Closure Grasp with Circular Fingers

    Hiroki Dobashi, Shoma Sumi, Masaya Minami

    The 20th IEEE/ASME International Conference on Mechatronic, Embedded Systems and Applications (MESA 2024)  2024.09   (Genoa)  IEEE/ASME

  • Development of a Versatile Robotic Hand toward Jig-less Assembly of a Shaft-shaped Part

    Kohei Shibata, Hiroki Dobashi

    The 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)  2024.05.16   (Yokohama)  IEEE

  • Analysis of the Relationship between the Pressed Depth and the Change of the Contour in Grasping of Shaped Food with a Parallel Gripper

    T. Tanimura, H. Dobashi

    The 24th SICE System Integration Division Annual Conference (SI2023)  2023.12.16   計測自動制御学会システムインテグレーション部門

  • Study on a Robust Grasping Strategy using a Versatile Hand with Parallel Stick Fingers for a Cylindrical Part supplied in a Compartment of a Tray

    H. Sakaguchi, H. Dpbashi

    The 24th SICE System Integration Division Annual Conference (SI2023)  2023.12.15   計測自動制御学会システムインテグレーション部門

  • Realization of Jig-less, External-sensor-less Assembly of Rigid and Flexible Parts with Robotic Hands

    H. Dobashi

    The 21th Young Researchers' Research Conference  2023.01.25   和歌山情報サービス産業協会,わかやま産業振興財団

  • Study on Jig-less Assembly of Shaft-shaped Parts with an Improved Versatile Hand with Parallel Stick Fingers

    H. Dobashi, K. Shibata, T. Yamaguchi

    The 2023 IEEE/SICE International Symposium on System Integration (SII 2023)  2023.01.19   IEEE/SICE

  • Statistical Modeling for Determining Hardness of Cherry Tomatoes by Stem Removal Operation

    Y. Nagasako, H. Dobashi

    The 23rd SICE System Integration Division Annual Conference (SI2022)  2022.12.16   計測自動制御学会システムインテグレーション部門

  • Derivation of the Optimal Grasping Points for an Object with Indeterminate Center of Gravity

    H. Naotaka, H. Dobashi

    The 23rd SICE System Integration Division Annual Conference (SI2022)  2022.12.14   計測自動制御学会システムインテグレーション部門

  • Analysis of the Robotic Assembly for the Task-board Task in the WRS 2020

    K. Ogawa, H. Dobashi, M. Shibata, W. Uemura, Y. Yokokohji

    The 23rd SICE System Integration Division Annual Conference (SI2022)  2022.12.14   計測自動制御学会システムインテグレーション部門

  • Study on External Sensorless Manipulation for Assembly of Rigid and Flexible Parts with Robotic Hands

    H. Dobashi

    The 9th Engineering Research Seeds Joint Conference of Osaka Metropolitan Univ. and Wakayama Univ.  2022.11.04   Wakayama Univ., Osaka Metropolitan Univ.

  • Orientational Transition of a Part by Parallel Gripper Allowing Interference with the Gripper Jaw and Release in an Unstable Orientation

    D. Saito, H. Dobashi

    The 40th Annual Conference of the Robotics Society of Japan (RSJ2022)  2022.09.08   The Robotics Society of Japan

  • Study on Causal Relationship between Difficulty Elements and Difficulty in Robotic Assembly

    R. Murakawa, H. Dobashi

    The 40th Annual Conference of the Robotics Society of Japan (RSJ2022)  2022.09.08   The Robotics Society of Japan

  • A Search Method of Stable Grasping Points for Grasping and High-speed Transportation of Food

    T. Yamamoto, H. Dobashi, S. Matsuoka, K. Shiratsuchi

    The 40th Annual Conference of the Robotics Society of Japan (RSJ2022)  2022.09.08   The Robotics Society of Japan

  • Derivation of the Permissible Initial Pose Error Region of a Part Based on Dynamical Analysis of Pushing Operation Considering Wobbling

    T. T. Nguyen, H. Dobashi

    The 40th Annual Conference of the Robotics Society of Japan (RSJ2022)  2022.09.06   The Robotics Society of Japan

  • Planning of Robust Grasping Strategy of Cylindrical Parts in Contact with Inner Sides of a Parts Tray Using a Versatile Robotic Hand with Parallel Stick Fingers

    Y. Kanaya, H. Dobashi

    The 40th Annual Conference of the Robotics Society of Japan (RSJ2022)  2022.09.06   The Robotics Society of Japan

  • Analysis of the Task-board Task in the WRS 2018 considering Usage of Tools

    Koki Ogawa, Hiroki Dobashi, Mizuho Shibata, Wataru Uemura, Yasuyoshi Yokokohji

    The 2022 JSME Conference on Robotics and Mechatronics (ROBOMECH2022)  2022.06.02   日本機械学会ロボティクス・メカトロニクス部門

  • Case Study on a Grasping Strategy of a Cylindrical Part along Inner Sides of a Parts Tray Using a Parallel Stick Fingered Hand

    Y. Kanaya, H. Dobashi

    The 2022 IEEE/SICE International Symposium on System Integration (SII 2022)  2022.01.11   IEEE/SICE

  • Examining the Elements of the Difficulty in Attaching a Round Belt to Pulleys

    R. Murakawa, H. Dobashi

    The 22nd SICE System Integration Division Annual Conference (SI2021)  2021.12.17   計測自動制御学会システムインテグレーション部門

  • Summary of "Task-board task" in the Industrial Robotics Category, World Robot Summit 2020

    M. Shibata, H. Dobashi, W. Uemura, Y. Yokokohji

    The 22nd SICE System Integration Division Annual Conference (SI2021)  2021.12.17   計測自動制御学会システムインテグレーション部門

  • Improving Efficiency of a Search Method of Stable Grasping Points for Grasping and High-Speed Transporting of Indefinite Shaped Food

    T. Yamamoto, H. Dobashi, K. Shiratsuchi

    The 22nd SICE System Integration Division Annual Conference (SI2021)  2021.12.17   計測自動制御学会システムインテグレーション部門

  • Development of Finger Mechanism of a Versatile Robotic Hand for Jig-less Assembly of a Shaft-shaped Part

    K. Shibata, H. Dobashi

    The 22nd SICE System Integration Division Annual Conference (SI2021)  2021.12.17   計測自動制御学会システムインテグレーション部門

  • Fundamental Study on the Feasibility of Alignment of Parts for 2nd-order Form Closure Grasps by Two Circular Fingers

    M. Minami, H. Dobashi

    The 39th Annual Conference of the Robotics Society of Japan (RSJ2021)  2021.09.10   The Robotics Society of Japan

  • Orientational Transition Analysis of Three-Dimensional Part Allowing Release Motion in Unstable Orientations

    Daiki Saito, Hiroki Dobashi

    The 2021 JSME Conference on Robotics and Mechatronics (ROBOMECH2021)  2021.06.07   日本機械学会ロボティクス・メカトロニクス部門

  • Optimal Design of Rotational Chuck-type Hand with Three Parallel Stick Fingers for Assembly Tasks through Grasp Optimization

    Masaya Fukunishi, Hiroki Dobashi, Yasuyoshi Yokokohji

    The 2021 IEEE/SICE International Symposium on System Integration (SII 2021)  2021.01.14   IEEE/SICE

  • Study on Generality of Roller Chain Assembly Strategy with Parallel Jaw Gripper

    Keiki Tatemura, Hiroki Dobashi

    The 2021 IEEE/SICE International Symposium on System Integration (SII 2021)  2021.01.13   (Fukushima)  IEEE/SICE

  • Research on Modularization of Manipulation Strategy in Peg-in-Hole Task

    Y. Funai, H. Dobashi

    The 21st SICE System Integration Division Annual Conference (SI2020)  2020.12.16   計測自動制御学会システムインテグレーション部門

  • Study on Feasibility of Alignment for 2nd-Order Form Closure Grasp by Robotic Hand with Parallel Stick Fingers

    M. Minami, H. Dobashi

    The 21st SICE System Integration Division Annual Conference (SI2020)  2020.12.16   計測自動制御学会システムインテグレーション部門

  • Method to Evaluate Difficulty in Assembling Rubber Belt

    R. Murakawa, H. Dobashi

    The 21st SICE System Integration Division Annual Conference (SI2020)  2020.12.16   計測自動制御学会システムインテグレーション部門

  • Manipulation for Grasping Cylindrical Part along Partition by Versatile Hand with Parallel Stick Fingers

    Y. Kanaya, H. Dobashi

    The 21st SICE System Integration Division Annual Conference (SI2020)  2020.12.16   計測自動制御学会システムインテグレーション部門

  • Identi fication of Parameters of Actual Food toward Stable Grasping and Transportation

    Y. Takagi, H. Dobashi, K. Shiratsuchi

    The 21st SICE System Integration Division Annual Conference (SI2020)  2020.12.16   計測自動制御学会システムインテグレーション部門

  • Search Method for Pair of Stable Grasping Points of Food Based on Stability Index

    T. Yamamoto, H. Dobashi, K. Shiratsuchi

    The 21st SICE System Integration Division Annual Conference (SI2020)  2020.12.16   計測自動制御学会システムインテグレーション部門

  • Realization of Robotic Assembly of Roller Chain

    Hiroki Dobashi

    Innovation JAPAN 2020  2020.09.28   Japan Science and Technology Agency

  • Strategy for Roller Chain Assembly with Parallel Jaw Gripper

    Keiki Tatemura, Hiroki Dobashi

    The 2020 IEEE International Conference on Robotics and Automation (ICRA 2020)  2020.06.03   (Online)  IEEE

  • Form Measurement of Timing Belt toward Automatic Assembly Independent of Individual Differences with Parallel Gripper

    Kazuki Nishimura, Hiroki Dobashi

    The 64th Annual Conference of the Institute of Systems, Control and Information Engineers (ISCIE)  2020.05.22   システム制御情報学会

  • Development of a Task Board for Assembling a Belt Drive Unit

    Mizuho Shibata, Hiroki Dobashi, Wataru Uemura, Yasuyoshi Yokokohji

    The 64th Annual Conference of the Institute of Systems, Control and Information Engineers (ISCIE)  2020.05.22   システム制御情報学会

  • Overview of "Assembly Challenge", a Robot Competition of Industrial Robotics Category, World Robot Summit 2020

    Yasuyoshi Yokokohji, Yoshihiro Kawai, Mizuho Shibata, Yasumichi Aiyama, Shinya Kotosaka, Wataru Uemura, Akio Noda, Hiroki Dobashi, Takeshi Sakaguchi, Yusuke Maeda, Kazuhito Yokoi

    The 64th Annual Conference of the Institute of Systems, Control and Information Engineers (ISCIE)  2020.05.22   The Institute of Systems, Control and Information Engineers (ISCIE)

  • Minimization of Actuator’s Driving Force of Chuck-type Hand with Three Parallel Stick Fingers through Grasp Optimization

    H. Dobashi, M. Fukunishi, M. Minami, Y. Yokokohji

    The 2020 IEEE/SICE International Symposium on System Integration (SII 2020)  2020.01.15   IEEE/SICE

  • Development of Versatile Robotic Hand to Realize Picking, Reorientation and Alignment of Shaft-shaped Part without Utilizing Environment

    T. Yamaguchi, H. Dobashi

    The 20th SICE System Integration Division Annual Conference (SI2019)  2019.12.14   計測自動制御学会システムインテグレーション部門

  • Jigless Assembly of Gear Unit by Universal Robotic Hand with 4 Parallel Stick Fingers and Vision Sensor

    T. Fukuda, H. Dobashi, Y. Tazaki, H. Nagano, Y. Yokokohji

    The 20th SICE System Integration Division Annual Conference (SI2019)  2019.12.14   計測自動制御学会システムインテグレーション部門

  • Mechanical Analysis on Manipulation Strategy for Grasping Parts Supplied in the Corner of a Tray by Versatile Robotic Hand with Parallel Stick Fingers

    N. Tanimukai, H. Dobashi

    The 20th SICE System Integration Division Annual Conference (SI2019)  2019.12.14   計測自動制御学会システムインテグレーション部門

  • Assembly Strategy of Timing Belt with Parallel Gripper

    K. Nishimura, H. Dobashi

    The 20th SICE System Integration Division Annual Conference (SI2019)  2019.12.14   計測自動制御学会システムインテグレーション部門

  • Experimental Study for Reducing Damage to Jaw in Roller Chain Assembly with Parallel Gripper

    K. Tatemura, H. Dobashi

    The 20th SICE System Integration Division Annual Conference (SI2019)  2019.12.14   計測自動制御学会システムインテグレーション部門

  • Analysis and Consideration of Side Bow for Roller Chain Assembly

    Keiki Tatemura, Hiroki Dobashi

    The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) Workshop  2019.11.04   IEEE/RSJ

  • Method to Realize Picking, Reorientation and Alignment of Shaft-shaped Part with Single Robotic Hand without Utilizing Environment

    T. Yamaguchi, H. Dobashi

    The 2019 JSME Conference on Robotics and Mechatronics (ROBOMECH2019)  2019.06   日本機械学会ロボティクス・メカトロニクス部門

  • Geometrical Solution of Finger Arrangement Problem onto Target Part toward Design of Chuck-type Hand with Three Parallel Stick Fingers

    H. Dobashi, M. Fukunishi, Y. Yokokohji

    The 2019 IEEE/SICE International Symposium on System Integration (SII 2019)  2019.01   IEEE/計測自動制御学会

  • Wobble Judgment of 3-D Part in Pushing Operation by Stick Finger Considering Admissible Motion

    Y. Yamamoto, H. Dobashi

    The 19th SICE System Integration Division Annual Conference (SI2018)  2018.12   計測自動制御学会システムインテグレーション部門

  • Jig-less Assembly of Gear Unit by Single Arm with Versatile Robotic Hand with Four Parallel Stick Fingers

    T. Fukuda, H. Dobashi, Y. Yokokohji

    The 36th Annual Conference of the Robotics Society of Japan (RSJ2018)  2018.09   日本ロボット学会

  • Problem of Finger Arrangement on Target Part's Surface and Geometrical Solution for Mechanism Design of Chuck-type Hand with Three Parallel Stick Fingers

    Fukunishi, H. Dobashi, Y. Yokokohji

    The 36th Annual Conference of the Robotics Society of Japan (RSJ2018)  2018.09   日本ロボット学会

  • Realization of Assembly Tasks with a Versatile Robotic Hand and a Robust Grasping Strategy

    Hiroki Dobashi

    New Technology Presentation Meetings  2018.07.31   Japan Science and Technology Agency

  • Utilization of Kinematical Redundancy of a Rehabilitation Robot to Produce Compliant Motions under Limitation on Actuator Performance

    T. Goto, H. Dobashi, T. Yoshikawa, R. C. V. Loureiro, W. S. Harwin, Y. Miyamura, K. Nagai

    The 15th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2017)  2017.07   IEEE/RAS-EMBS

  • Orientational Transition Analysis toward Reorientation of Parts by Parallel Gripper Allowing Release Motion in Unstable Orientations

    Hiroki Dobashi, Hayato Kawai

    Proceedings of the 2016 IEEE/SICE International Symposium on System Integration  2016.12   IEEE/SICE

  • Planning of Reorientation of Parts by Parallel Gripper Allowing Release Motion in Unstable Orientations

    The 17th SICE System Integration Division Annual Conference  2016.12   計測自動制御学会システムインテグレーション部門

  • Study on Reorientation of Parts by Parallel Gripper Allowing Release Motion in Unstable Orientations

    Hiroki Dobashi, Hayato Kawai

    2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) Workshop of Dexterity Acquisition in Object Manipulation  2016.10.10   IEEE/RSJ

  • Study on Reorientation of Parts by Parallel Gripper Allowing Releasing Action during Orientational Transition

    Hiroki Dobashi, Hayato Kawai

    ROBOMECH2016  2016.06.10   日本機械学会ロボティクス・メカトロニクス部門

  • Productivity Estimation Method by Using State Transition for Parts Kitting Robot System

    K. Shiratsuchi, R. Haraguchi, Y. Domae, K. Nagai, T. Yoshikawa, H. Dobashi

    SI2015  2015.12.14   計測自動制御学会システムインテグレーション部門

  • Feasibility Study on EEG Driven Robotic System to Realize Efficient Stroke Rehabilitation

    K. Nagai, T. Goto, T. Shimizu, H. Dobashi, K. Ito, Y. Hayashi, R. C. V. Loureiro, S. J. Nasuto, W. S. Harwin

    The 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2015)  2015.08.14   IEEE/RAS-EMBS

  • 駆動冗長性を有する高速パラレルメカニズムにおける 内力の低減化と高精度動作の実現

    日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集  2015.05.19  

  • 代表周波数法による運動意図の検出に関する検討

    日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集  2015.05.18  

  • コンプライアント動作生成のための冗長駆動マニピュレータの機構特性の解析

    日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集  2015.05.18  

  • Object Pose Transition Planning by Rolling Operations Using Universal Robotic Hand with Paralell Stick Fingers

    第15回計測自動制御学会システムインテグレーション部門講演会論文集  2014.12.16  

  • Consideration on Mechanical Properties of a Redundant Drive Manipulator for Reducing the Endpoint Inertia

    Proceedings of the 2014 IEEE/SICE International Symposium on System Integration  2014.12.14  

  • Consideration on a New BCI Method Using EEG to Detect Motion Intention

    Proceedings of the 2014 IEEE/SICE International Symposium on System Integration  2014.12.14  

  • Proposal of Redundant Drive Wire Mechanism for Producing High Acceleration and High Precision Motions

    The 2014 Vietnamese–Japanese Students' Scientific Exchange Meeting  2014.09.13  

  • Robust Grasping Strategy of Universal Robotic Hand for Assembly Task in Robotic Cell

    The 2014 Vietnamese–Japanese Students' Scientific Exchange Meeting  2014.09.13  

  • 駆動冗長性を有するパラレルメカニズムの高加速・高精度動作における内力の影響

    第32回日本ロボット学会学術講演会予稿集  2014.09.06  

  • Design of Vibration Suppression Mechanism in Two Wires Drive Mechanism for Producing High Acceleration and High Precision Motions

    第32回日本ロボット学会学術講演会予稿集  2014.09.05  

  • Object Pose Transition Planning on A Flat Supporting Plane for Stable Grasping Operations by A Robotic Hand

    第14回計測自動制御学会システムインテグレーション部門講演会論文集  2013.12  

  • Robustness Evaluation of 3-D Parts Pushing Operation by A Robot Hand with N-Parallel Cylindrical Stick-Type Fingers

    第14回計測自動制御学会システムインテグレーション部門講演会論文集  2013.12  

  • Synthetic Evaluation of Mechanism and Grasping Strategy of Universal Hand for Assembly Task Based on the Robustness of Alignment and Grasping

    第14回計測自動制御学会システムインテグレーション部門講演会論文集  2013.12  

  • Analysis of Impedance Property of a Robot Considering Limitation of Actuator Performance

    第14回計測自動制御学会システムインテグレーション部門講演会論文集  2013.12  

  • N本平行円柱スティック型ハンドを用いた三次元形状部品に対する安定把持状態の導出

    第31回日本ロボット学会学術講演会予稿集  2013.09  

  • 平面上にある三次元形状部品と把持指との接触点位置を考慮したぐらつきにくさの解析と実験的検証

    第13回計測自動制御学会システムインテグレーション部門講演会論文集  2012.12  

  • 平面上にある三次元形状部品に対する安定性解析の実験的検証と把持指との接触点位置を考慮したぐらつきにくさの導出

    日本ロボット学会第30回記念学術講演会予稿集  2012.09  

  • 平面上にある三次元形状部品の安定性解析

    日本機械学会ロボティクス・メカトロニクス講演会2012講演論文集  2012.05  

  • ロボットセルにおける組立作業のためのロバスト把持戦略の計画手法

    第12回計測自動制御学会システムインテグレーション部門講演会論文集  2011.12  

  • ロボットセル生産のためのロバスト把持戦略を用いた三次元形状物体を含む多形状物体の組立作業

    第29回日本ロボット学会学術講演会予稿集  2011.09  

  • 対象物体の初期誤差に対する把持戦略のロバスト性への動力学的要素の影響

    第11回計測自動制御学会システムインテグレーション部門講演会論文集  2010.12  

  • 動力学的押し操作解析に基づく準静的把持動作解析の妥当性の検証

    第53回自動制御連合講演会  2010.11  

  • Derivation of Optimal Robust Grasping Strategy under Initial Object Pose Error

    Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  2010.10  

  • 動力学的押し操作解析に基づく把持戦略のロバスト性の考察

    第28回日本ロボット学会学術講演会予稿集  2010.09  

  • Permissible Initial Pose Error Region of an Object Grasped by a Universal Hand

    Proceedings of 2010 International Symposium on Flexible Automation  2010.06  

  • 把持シミュレーションに基づく組立作業用汎用ハンドのロバスト把持戦略の実験的評価

    第10回計測自動制御学会システムインテグレーション部門講演会論文集  2009.12  

  • 能動探索アルゴリズムによる組立作業用汎用ハンドのロバスト把持戦略の最適化

    第27回日本ロボット学会学術講演会予稿集  2009.09  

  • 組立作業ロボットの汎用ハンドライブラリ構築のためのロバスト把持戦略の検討

    第9回計測自動制御学会システムインテグレーション部門講演会論文集  2008.12  

  • ロボットセルにおける組立作業用汎用ハンドの設計手法

    電子情報通信学会技術研究報告ヒューマン情報処理  2008.11  

  • 物体の押し操作解析に基づく組立作業用汎用ハンドのロバスト把持戦略

    第26回日本ロボット学会学術講演会予稿集  2008.09  

  • ロボットセル生産システムの為の汎用ハンドの設計手法

    第25回日本ロボット学会学術講演会予稿集  2007.09  

  • On a Study of Power Generation Rate of DEGs with Self-priming Circuits

    R. Katsuyama, K. Nagase, H. Dobashi

    The 60th Japan Joint Automatic Control Conference  2017.11   計測自動制御学会ほか

  • Seamless Manipulation of Multi-fingered Robot Hands Using Quaternion Representation

    D. Tanaka, K. Nagase, H. Dobashi

    The 60th Japan Joint Automatic Control Conference  2017.11   計測自動制御学会ほか

  • Study on Corticomuscular Coherence Analysis for the Evaluation of Effects in Stroke Rehabilitation

    J. Cao, T. Shimizu, M. Yoshida, H. Dobashi, K. Nagai

    The 2017 JSME Conference on Robotics and Mechatronics (ROBOMECH2017)  2017.05   日本機械学会ロボティクス・メカトロニクス部門

  • 荷重分散・底付き防止を目的としたじょくそう予防クッションの開発

    日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集  2015.05.19  

  • Bulk Parts Manipulation Planning and System Design

    第14回計測自動制御学会システムインテグレーション部門講演会論文集  2013.12  

  • バラ積み部品のマニピュレーション計画

    第31回日本ロボット学会学術講演会予稿集  2013.09  

  • 多指ハンドを用いた未知物体の外界センサレスかつ正確な位置姿勢制御

    第31回日本ロボット学会学術講演会予稿集  2013.09  

  • New Design of Peristaltic Crawling Robot with an Earthworm Muscular Structure

    16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines  2013.07  

  • Acquisition of a Peristaltic Crawling Robot's Motion Pattern Using Reinforcement Learning

    Proceedings of the 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems  2012.11  

  • Influence of Lower Extremity Alignment on Human Gait Based on Wireless Sensors

    Proceedings of the 19th International Conference on Mechatronics and Machine Vision in Practice  2012.11  

  • Design of a Three Dimensional Running Peristaltic Crawling Robot

    Proceedings of the 19th International Conference on Mechatronics and Machine Vision in Practice  2012.11  

  • Actor-Criticを用いた多体節蠕動運動型ロボットへ適応するための移動パターンの検討

    日本機械学会2012年度年次大会論文集  2012.05  

  • 空気圧シリンダを用いた上肢リハビリテーション支援機器に関する研究

    日本機械学会2012年度年次大会論文集  2012.05  

  • 膝アライメントの違いによる歩行動作への影響

    日本機械学会2012年度年次大会論文集  2012.05  

  • Intelligent Robot Technologies for Cell Production System

    Proceedings of 2010 International Symposium on Flexible Automation  2010.06  

▼display all

Patents

  • Robot Control Device and Robot Control Method

    Patent no: 7337285

    Date registered: 2023.08.24 

    Date applied: 2020.10.19 ( 2020-175203 )   Publication date: 2022.04.28 ( WO2022/085408 )  

    Inventor(s)/Creator(s): Koji Shiratsuchi, Hiroki Dobashi 

     View Summary

    ロボットによる不定形物体のピッキングを対象として,対象物体の適切な把持点を生成するアルゴリズム,ならびにこれを利用したロボットの制御システムを提案している.

  • 機械システムの生産性能評価装置及び機械システムの生産性能評価方法

    Patent no: 6516663

    Date registered: 2019.04.26 

    Date applied: 2015.12.10 ( 2015-241262 )  

    Inventor(s)/Creator(s): 永井清,吉川恒夫,土橋宏規,白土浩司,長岡林太郎 

     View Summary

    部品の状態遷移を行う機械システム(ロボットシステム)を対象として,システムの生産性能の指標となる期待タクトタイムを求めるための手法と,その演算を行うための装置を提案している.

Research Exchange

  • WRS2018・2020競技用タスクボードを用いたロボットによる組立作業の分析

    2021.04
    -
    Now
     

     Joint research

  • マニピュレーション冬の学校

    2020.12
     
  • WRS2018競技用タスクボードを用いた複数ロボットアームによる組立作業の分析

    2020.04
    -
    2023.10
     

     Joint research

  • Macro/micro-type Assembly Robot System that Can Acquire Human Skills through Direct Teaching

    2020.04
    -
    2021.03
     

     Joint research

  • 第125回ロボット工学セミナー「物流ロボットにおける物体認識技術とハンドリング技術の最前線」

    2020.04
     
  • Macro/micro-type Assembly Robot System that Can Acquire Human Skills through Direct Teaching

    2019.04
    -
    2020.03
     

     Joint research

  • マニピュレーション冬の学校

    2018.12
     
  • 機素からはじめる機械設計 —若手技術者のための機械設計導入講座(機械要素設計の基本)—

    2018.12
     
  • WRS 2018 Industrial Robotics Category Symposium

    2018.10
     
  • 直接教示による作業スキルを実現するマクロ・マイクロ型組立ロボットシステム

    2018.04
    -
    2019.03
     

     Joint research

  • Science Robotics Meeting in Japan 2018

    2018.03
     
  • 人と調和する支援技術の実現に関する研究会

    2018.03
     
  • ロボットマニピュレーションに関する技術調査研究委員会講演会@立命館大学

    2018.03
     
  • 立命館大学理工学部ロボティクス学科2017年度修士論文公聴会

    2018.02
    -
    2018.03
     
  • 神戸大学機械工学専攻平成29年度修士論文公聴会

    2018.02
     
  • 立命館大学理工学部ロボティクス学科2018年度修士論文公聴会

    2018.02
     
  • 第18回計測⾃動制御学会システムインテグレーション部⾨講演会(SI2017)

    2017.12
     
  • 2017国際ロボット展(iREX2017)

    2017.11
    -
    2017.12
     
  • 第109回ロボット工学セミナー「臨床応⽤から理解するリハビリテーション・ロボティクス」

    2017.10
     
  • 2017年度若手教員研究紹介発表会

    2017.09
     
  • 鳥取大学・和歌山大学合同ビジネス連携交流会

    2017.09
     
  • 第35回⽇本ロボット学会学術講演会(RSJ2017)

    2017.09
     
  • 第108回ロボット工学セミナー「ものづくりを変⾰する協調ロボットのための安全対策技術と⼈理解技術」

    2017.09
     
  • ロボットマニピュレーションに関する技術調査研究委員会講演会@岐阜大学

    2017.08
     
  • Amazon Robotics Challenge 2017

    2017.07
     
  • 大学院プロジェクト研究に係る審査会

    2017.06
     
  • 運動機能再建のための統合化リハビリテーションシステムの実用化

    2017.04
    -
    2018.03
     

     Joint research

  • 直接教示による作業スキルを実現するマクロ・マイクロ型組立ロボットシステム

    2017.04
    -
    2018.03
     

     Joint research

  • 第104回ロボット工学セミナー「物流現場の自動化を支援する物体ハンドリング技術の最前線」

    2017.04
     

▼display all

KAKENHI

  • 剛柔両部品に適用可能なロボットシステムによる組立作業の難度評価手法の構築

    2021.04
    -
    2024.03
     

    Grant-in-Aid for Scientific Research(C)  Principal investigator

  • 直接教示による作業スキルを実現するマクロ・マイクロ型組立ロボットシステム

    2017.04
    -
    2020.03
     

    Grant-in-Aid for Scientific Research(B)  Co-investigator

  • 汎用ハンドによる組立作業の実現性向上のためのアライメント戦略と把持形態の総合計画

    2016.04
    -
    2019.03
     

    Grant-in-Aid for Young Scientists(B)  Principal investigator

  • 運動機能再建のための統合化リハビリテーションシステムの実用化

    2015.04
    -
    2018.03
     

    Grant-in-Aid for Scientific Research(B)  Co-investigator

Joint or Subcontracted Research with foundation, company, etc.

  • ロボット・ドローンが活躍する省エネルギー社会の実現プロジェクト/ロボット・ドローンに関する国際基準化の推進/デファクト・スタンダード

    2018.04
    -
    2022.02
     

    Contracted research  Principal investigator

Instructor for open lecture, peer review for academic journal, media appearances, etc.

  • ROBOMECH Journal Reviewer

    2024.04.09
    -
    2024.05.18

    日本機械学会

     View Details

    学術雑誌等の編集委員・査読・審査員等

    日本機械学会の欧文誌ROBOMECH Journalへの投稿論文の査読

  • IROS 2024 Reviewer

    2024.04.01
    -
    2024.04.29

    IEEE/日本ロボット学会

     View Details

    学術雑誌等の編集委員・査読・審査員等

    2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)への投稿論文の査読

  • Advanced Robotics Reviewer

    2024.03.04
    -
    2024.03.24

    日本ロボット学会

     View Details

    学術雑誌等の編集委員・査読・審査員等

    欧文誌Advanced Roboticsへの投稿論文の査読

  • 第29回ロボティクスシンポジア査読委員

    2023.10.26
    -
    2023.11.24

    第29回ロボティクスシンポジアプログラム委員会

     View Details

    学術雑誌等の編集委員・査読・審査員等

    第29回ロボティクスシンポジアへの投稿論文の査読

  • ロボットアイデア甲子園 2023 大阪大会 審査委員

    2023.10.14

    一般社団法人 日本ロボットシステムインテグレータ協会

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    人材育成

    高校生・高専生・専門学校生を対象に、産業用ロボットの活用アイデアを提案いただく「ロボットアイデア甲子園2023」の大阪大会を、泉大津商工会議所にて開催します。
    審査委員として10月14日に会場にて、学生が発表するロボットアイデア提案のプレゼン発表をご覧いただき、審査をお願いいたします。

  • ICRA 2024 Reviewer

    2023.10.01
    -
    2023.11.07

    IEEE

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    学術雑誌等の編集委員・査読・審査員等

    2024 IEEE International Conference on Robotics and Automation (ICRA 2024)への投稿論文の査読

  • SII 2024 Reviewer

    2023.09.08
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    2023.09.23

    IEEE/SICE

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    2024 IEEE/SICE International Symposium on System Integration (SII 2024)への投稿論文の査読

  • 講演会の講師

    2023.08.29
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    2024.04.04

    国立大学法人 和歌山大学

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    人材育成

    紀伊半島価値共創基幹 Kii-Plusが実施する,わだい浪切サロン第154回「これで本当に組立作業ができる?~単純機構のロボットハンド~」の講師として,講演を行った.

  • メディア出演等

    2023.08.11
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    2023.09.15

    日刊工業新聞(2023年9月15日)

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    研究成果に係る新聞掲載、テレビ・ラジオ出演

    指が伸縮の汎用4指ハンド 和歌山大 多段減速機など向け

  • 月刊「機械設計」誌12月号への原稿ご執筆

    2023.08.01
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    2023.10.06

    日刊工業新聞社

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    寄稿

    月刊「機械設計」誌12月号への「センサレス把持を実現するロボットハンド機構と把持計画の手法」に関する解説記事のご寄稿

  • IROS 2023 Reviewer

    2023.03
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    2023.04

    IEEE/日本ロボット学会

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    学術雑誌等の編集委員・査読・審査員等

    2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)への投稿論文の査読

  • ロボットアイデア甲子園 2022 大阪大会 審査委員

    2022.11.26

    FA・ロボットシステムインテグレータ協会

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    人材育成

    高校生・高専生・専門学校生を対象に、産業用ロボットの活用アイデアを提案いただく「ロボットアイデア甲子園2022」の大阪大会を、泉大津商工会議所にて開催します。
    審査委員として11月26日に会場にて、学生が発表するロボットアイデア提案のプレゼン発表をご覧いただき、審査ください。

  • 第28回ロボティクスシンポジア査読委員

    2022.11

    第28回ロボティクスシンポジア実行委員会

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    学術雑誌等の編集委員・査読・審査員等

    第28回ロボティクスシンポジアへの投稿論文の査読

  • ものづくり競技検討準備WG委員

    2022.10.01
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    2023.02.28

    株式会社日刊工業新聞社

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    「学協会、政府、自治体等の公的委員」以外の委員

    次期World Robot Summitに向けたものづくり競技の検討にあたりご指導いただ
    く。

  • 講習会の講師

    2022.09.16

    (株)日本テクノセンター

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    講演講師

    ロボット制御の基礎と生産システム自動化への応用

    オンラインセミナー 講師

  • SII 2023 Reviewer

    2022.09

    IEEE/SICE

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    学術雑誌等の編集委員・査読・審査員等

    2023 IEEE/SICE International Symposium on System Integration (SII 2023)への投稿論文の査読

  • プログラム委員会幹事

    2022.07.01
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    2023.03.31

    第28回ロボティクスシンポジア実行委員会

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    運営参加・支援

    第28回ロボティクスシンポジアの開催において,プログラム委員会幹事として,投稿論文の募集や採択に関する業務を取り仕切る業務をプログラム委員長をサポートしながら実施する.

  • メディア出演等

    2022.04.05

    日刊工業新聞(2022年4月5日)

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    研究成果に係る新聞掲載、テレビ・ラジオ出演

    柔軟なベルト組み付け 和歌山大が作業戦略

  • RA-L Reviewer

    2022.04
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    2022.06

    IEEE

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    学術雑誌等の編集委員・査読・審査員等

    IEEE Robotics and Automation Letters (RA-L)への投稿論文の査読

  • Advanced Robotics Reviewer

    2022.03
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    2022.07

    日本ロボット学会

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    学術雑誌等の編集委員・査読・審査員等

    欧文誌Advanced Roboticsへの投稿論文の査読

  • ROBOMECH Journal Reviewer

    2022.03
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    2022.05

    日本機械学会

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    日本機械学会の欧文誌ROBOMECH Journalへの投稿論文の査読

  • RA-L Reviewer

    2022.03
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    2022.05

    IEEE

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    IEEE Robotics and Automation Letters (RA-L)への投稿論文の査読

  • RA-L Reviewer

    2022.03
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    2022.04

    IEEE

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    IEEE Robotics and Automation Letters (RA-L)への投稿論文の査読

  • IROS 2022 Reviewer

    2022.03
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    2022.04

    IEEE/日本ロボット学会

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    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)への投稿論文の査読

  • IEEE T-RO Reviewer

    2021.11
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    2022.09

    IEEE

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    IEEE Transactions on Robotis (TR-O)への投稿論文の査読

  • RA-L Reviewer

    2021.09
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    2022.01

    IEEE

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    IEEE Robotics and Automation Letters (RA-L)への投稿論文の査読

  • SII 2022 Reviewer

    2021.09
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    IEEE/SICE

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    2022 IEEE/SICE International Symposium on System Integration (SII 2022)への投稿論文の査読

  • 日本ロボット学会誌 査読員

    2021.08
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    日本ロボット学会

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    日本ロボット学会誌への投稿論文の査読

  • メディア出演等

    2021.07
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    2021.09

    ニュースダイジェスト社

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    研究成果に係る新聞掲載、テレビ・ラジオ出演

    ニュースダイジェスト社の月刊誌である月刊生産財マーケティング,ならびに同社が開設しているWebサイトであるrobot digestの記事掲載に向けた取材に対応した.

  • IEEE T-RO Reviewer

    2021.06
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    2022.07

    IEEE

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    学術雑誌等の編集委員・査読・審査員等

    IEEE Transactions on Robotis (TR-O)への投稿論文の査読

  • IROS 2021 Reviewer

    2021.04

    IEEE/日本ロボット学会

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    学術雑誌等の編集委員・査読・審査員等

    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)への投稿論文の査読

  • ICRA 2021 Reviewer

    2020.11
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    2020.12

    IEEE

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    学術雑誌等の編集委員・査読・審査員等

    2021 IEEE International Conference on Robotics and Automation (ICRA 2021)への投稿論文の査読

  • RA-L Reviewer

    2020.10
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    2020.11

    IEEE

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    学術雑誌等の編集委員・査読・審査員等

    IEEE Robotics and Automation Letters (RA-L)への投稿論文の査読

  • SII 2021 Reviewer

    2020.08
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    2020.09

    IEEE/SICE

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    学術雑誌等の編集委員・査読・審査員等

    2021 IEEE/SICE International Symposium on System Integration (SII 2021)への投稿論文の査読

  • Advanced Robotics Reviewer

    2020.04
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    2021.04

    日本ロボット学会

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    学術雑誌等の編集委員・査読・審査員等

    欧文誌Advanced Roboticsへの投稿論文の査読

  • メディア出演等

    2020.03.17

    日刊工業新聞(2020年3月17日)

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    研究成果に係る新聞掲載、テレビ・ラジオ出演

    ロボハンドでチェーン装着 和歌山大、センサー不要の操作法考案

  • IROS 2020 Reviewer

    2020.03
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    2020.04

    IEEE/日本ロボット学会

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    学術雑誌等の編集委員・査読・審査員等

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)への投稿論文の査読

  • SII 2020 Reviewer

    2019.09
    -
    2019.10

    IEEE/SICE

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    学術雑誌等の編集委員・査読・審査員等

    2020 IEEE/SICE International Symposium on System Integration (SII 2020)への投稿論文の査読

  • 「World Robot Summitものづくり競技委員会」委員

    2019.04
    -
    2020.03

    株式会社 日刊工業新聞社

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    「学協会、政府、自治体等の公的委員」以外の委員

    World Robot Summit ものづくり競技委員会委員に就任し、専門的立場から意見をいただく

  • Advanced Robotics Reviewer

    2019.04
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    2020.03

    日本ロボット学会

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    学術雑誌等の編集委員・査読・審査員等

    欧文誌Advanced Roboticsへの投稿論文の査読

  • メディア出演等

    2019.01.06

    TBSテレビ

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    研究成果に係る新聞掲載、テレビ・ラジオ出演

    TBSテレビ 未来の起源 #300(2019年1月6日)への取材協力および出演.

  • 講師

    2018.12

    (株)日本テクノセンター

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    講演講師等

    講師,任期:2018年12月~

  • メディア出演等

    2018.09.05

    日刊工業新聞(2018年9月5日)

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    研究成果に係る新聞掲載、テレビ・ラジオ出演

    4本指ハンド開発

  • メディア出演等

    2018.08.17

    日経産業新聞(2018年8月17日)

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    研究成果に係る新聞掲載、テレビ・ラジオ出演

    簡単構造のロボハンド

  • Advanced Robotics Reviewer

    2018.04
    -
    2019.03

    日本ロボット学会

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    学術雑誌等の編集委員・査読・審査員等

    欧文誌Advanced Roboticsへの投稿論文の査読

  • 「World Robot Summitものづくり競技委員会」委員

    2018.04
    -
    2019.03

    株式会社 日刊工業新聞社

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    「学協会、政府、自治体等の公的委員」以外の委員

    World Robot Summit ものづくり競技委員会委員に就任し、専門的立場から意見をいただく

  • IROS 2018 Associate Editor

    2018.02
    -
    2018.05

    IEEE/日本ロボット学会

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    学術雑誌等の編集委員・査読・審査員等

    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) Associate Editor,任期:4ヶ月

  • 講師

    2018.01

    大阪教育大学附属平野小学校

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    講演講師等

    「未来そうぞう科」講師,任期:1ヶ月

  • 客員研究員

    2017.04
    -
    2024.03.31

    学校法人立命館

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    本大学で特定の研究課題に取り組む者

    「学習効率向上と社会実装を考慮した脳卒中リハビリテーションシステム」の課題に本大学の施設を利用し取り組む。

  • 計測自動制御学会論文集 査読員

    2017.04
    -
    2018.03

    計測自動制御学会

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    学術雑誌等の編集委員・査読・審査員等

    計測自動制御学会論文集査読員,任期:1年

  • ICAE Reviewer

    2017.04
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    2018.03

    Journal of Integrated Computer-Aided Engineering, Integrated Computer-Aided Engineering

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    学術雑誌等の編集委員・査読・審査員等

    Journal of Integrated Computer-Aided Engineering, Integrated Computer-Aided Engineering Reviewer,任期:1年

  • Advanced Robotics Reviewer

    2017.04
    -
    2018.03

    日本ロボット学会

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    学術雑誌等の編集委員・査読・審査員等

    欧文誌Advanced Roboticsへの投稿論文の査読

  • SICE Journal of Control, Measurement, and System Integration Associate Editor

    2014.07
    -
    2015.06

    計測自動制御学会

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    学術雑誌等の編集委員・査読・審査員等

    SICE Journal of Control, Measurement, and System Integration Associate Editor,任期:1年

  • 計測自動制御学会論文集 Associate Editor

    2014.07
    -
    2015.04

    計測自動制御学会

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    学術雑誌等の編集委員・査読・審査員等

    計測自動制御学会論文集 Associate Editor,任期:10ヶ月

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Committee member history in academic associations, government agencies, municipalities, etc.

  • 第29回ロボティクスシンポジア プログラム委員会 委員

    2023.10.26
    -
    2023.11.23
     

    第29回ロボティクスシンポジアプログラム委員会

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    学協会、政府、自治体等の公的委員

    第29回ロボティクスシンポジア プログラム委員会 委員

  • SI部門 マニピュレーション部会 委員

    2023.03.31
    -
    2023.12.31
     

    公益社団法人 計測自動制御学会

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    学協会、政府、自治体等の公的委員

    人類が直面する福祉環境などの複雑化するシステムの諸問題を解決するため,人工物・人間・社会に関するシステムの俯瞰的インテグレーションを可能とする 科学的・工学的技術を提供する。

  • システムインテグレーション部門 自動システム部会 委員

    2023.01.01
    -
    2023.12.31
     

    公益社団法人 計測自動制御学会

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    学協会、政府、自治体等の公的委員

    人類が直面する福祉環境などの複雑化するシステムの諸問題を 解決するため,人工物・人間・社会に関するシステムの俯瞰的インテグレーションを可能とする 科学的・工学的技術を提供する。

    委嘱期間 1年間 
           自 2023年1月1日
          至 2023年12月31日
    期間中の開催回数  約3回
    報酬の有無  無

  • 第28回ロボティクスシンポジア プログラム委員会 幹事

    2022.07.01
    -
    2023.03.31
     

    第28回ロボティクスシンポジア実行委員会

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    学協会、政府、自治体等の公的委員

    第28回ロボティクスシンポジア プログラム委員会 幹事

  • ロボティクス・メカトロニクス部門講演会2021実行委員会出版委員長

    2019.08
    -
    2021.06
     

    日本機械学会

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    学協会、政府、自治体等の公的委員

    ロボティクス・メカトロニクス部門講演会2021実行委員会出版委員長

  • 第20回計測自動制御学会SI部門講演会実行委員会出版副委員長

    2018.09
    -
    2019.12
     

    計測自動制御学会

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    学協会、政府、自治体等の公的委員

    第20回計測自動制御学会SI部門講演会実行委員会出版副委員長,任期:1年

  • 日本機械学会ロボティクス・メカトロニクス部門広報委員

    2018.04
    -
    2022.03
     

    日本機械学会

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    学協会、政府、自治体等の公的委員

    日本機械学会ロボティクス・メカトロニクス部門広報委員会
    2018年度:委員
    2019年度:副委員長
    2020年度:委員長
    2021年度:幹事

  • 第19回計測自動制御学会SI部門講演会実行委員会出版委員長

    2017.11
    -
    2018.12
     

    計測自動制御学会

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    学協会、政府、自治体等の公的委員

    第19回計測自動制御学会SI部門講演会実行委員会出版委員長,任期:1年

  • 日本機械学会ロボティクス・メカトロニクス部門運営委員会委員

    2017.04
    -
    2018.03
     

    日本機械学会

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    学協会、政府、自治体等の公的委員

    運営委員会委員,任期:1年

  • Advanced Robotics Best Paper Award選考小委員会委員

    2016.04
    -
    2018.03
     

    日本ロボット学会

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    学協会、政府、自治体等の公的委員

    Advanced Robotics Best Paper Award選考小委員会委員,任期:2年

  • ロボットマニピュレーションに関する技術調査研究委員会委員

    2016.01
    -
    2022.03
     

    計測自動制御学会

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    学協会、政府、自治体等の公的委員

    ロボットマニピュレーションに関する技術調査研究委員会委員

  • 日本ロボット学会代議員

    2015.03
    -
    2019.03
     

    日本ロボット学会

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    学協会、政府、自治体等の公的委員

    代議員,任期:4年

  • ロボティクス・メカトロニクス部門講演会2015実行委員会幹事

    2014.05
    -
    2015.05
     

    日本機械学会

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    学協会、政府、自治体等の公的委員

    ロボティクス・メカトロニクス部門講演会2015実行委員会幹事,任期:1年

  • 第19回ロボティクス・シンポジア実行委員会委員

    2013.03
    -
    2014.03
     

    計測自動制御学会

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    学協会、政府、自治体等の公的委員

    第19回ロボティクス・シンポジア実行委員会委員,任期:1年

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Other Social Activities

  • 平成31年度 京機会総会 特別講演会

    2018.04
    -
    2019.03

    その他

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    社会との連携を推進する活動

    「ロボティックスの可能性と限界」(米MIT・浅田春比古教授)