Published Papers - DOBASHI Hiroki

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]

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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]

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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]

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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]

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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.

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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]

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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.

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