Published Papers - DOBASHI Hiroki

Study on Grasping and Installation of a Round Belt by Versatile Robotic Hand with Parallel Stick Fingers

Yu Moriyama, Hiroki Dobashi （Part： Last author )

Proc. of the 8th Jc-IFToMM International Symposium ( Jc-IFToMM )    36 - 39   2025.06

Study on a Stem Removal Method for Cherry Tomatoes Capable of Avoiding Dehiscence Using an Iris Mechanism

Yuki Nagasako, Hiroki Dobashi （Part： Last author,　Corresponding author )

Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  43 ( 3 ) 342 - 345   2025.04  [Refereed]

DOI

A Robust Grasping Strategy Using a Versatile Hand with Parallel Stick Fingers for a Cylindrical Part at an Arbitrary Position in a Parts Tray Compartment

Hideto Sakaguchi, Hiroki Dobashi （Part： Last author,　Corresponding author )

Journal of the Robotics Society of Japan (accepted) ( The Robotics Society of Japan )    2025  [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 ( The Robotics Society of Japan )  42 ( 8 ) 809 - 812   2024.10  [Refereed]

DOI

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 ( The Robotics Society of Japan )  42 ( 8 ) 801 - 804   2024.10  [Refereed]

DOI

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 )    2024.09  [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 ( The Robotics Society of Japan )  42 ( 7 ) 692 - 695   2024.09  [Refereed]

DOI

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 ( The Robotics Society of Japan )  42 ( 6 ) 576 - 579   2024.07  [Refereed]

DOI

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]

DOI

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]

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]

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