論文 - 土橋　宏規

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 (担当区分： 最終著者 )

Proc. of the 2022 IEEE/SICE International Symposium on System Integration (SII 2022)     640 - 644   2022年01月  [査読有り]

状態遷移速度図を用いた部品整列ロボットの作業時間算出法

永井 清, 西村 海里, 櫻田 武, 土橋 宏規, 吉川 恒夫

日本ロボット学会誌 ( 日本ロボット学会 )  39 ( 7 ) 645 - 652   2021年09月  [査読有り]

DOI

WRS 2018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

柴田 瑞穂, 土橋 宏規, 植村 渉, 横小路 泰義

システム制御情報学会論文誌   34 ( 4 ) 98 - 106   2021年04月  [査読有り]

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

Masaya Fukunishi, Hiroki Dobashi, Yasuyoshi Yokokohji (担当区分： 責任著者 )

Proc. of the 2021 IEEE/SICE International Symposium on System Integration (SII 2021) ( IEEE )    623 - 627   2021年01月  [査読有り]

　概要を見る

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 (担当区分： 最終著者,　責任著者 )

Proc. of the 2021 IEEE/SICE International Symposium on System Integration (SII 2021)     580 - 581   2021年01月  [査読有り]

Strategy for Roller Chain Assembly with Parallel Jaw Gripper

Keiki Tatemura, Hiroki Dobashi (担当区分： 最終著者,　責任著者 )

IEEE Robotics and Automation Letters ( IEEE )  5 ( 2 ) 2435 - 2442   2020年04月  [査読有り]

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年01月  [査読有り]

　概要を見る

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 (担当区分： 筆頭著者,　責任著者 )

Proc. of the 2020 IEEE/SICE International Symposium on System Integration (SII 2020) ( IEEE )    1180 - 1186   2020年01月  [査読有り]

DOI

Analysis and Consideration of Side Bow for Roller Chain Assembly

Keiki Tatemura, Hiroki Dobashi (担当区分： 最終著者 )

Webpage of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) Workshop     1 - 2   2019年11月  [査読有り]

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年09月  [査読有り]

DOI

World Robot Summit 2018 ものづくりカテゴリー競技 「製品組立チャレンジ」の概要

横小路 泰義, 横井 一仁, 河井 良浩, 柴田 瑞穂, 相山 康道, 琴坂 信哉, 植村 渉, 野田 哲男, 土橋 宏規, 阪口 健

日本ロボット学会誌 ( 一般社団法人 日本ロボット学会 )  37 ( 3 ) 208 - 217   2019年04月  [査読有り]

　概要を見る

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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 (担当区分： 筆頭著者,　責任著者 )

Proc. of the 2019 IEEE/SICE International Symposium on System Integration (SII 2019) ( IEEE )    422 - 426   2019年01月  [査読有り]

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年07月  [査読有り]

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年12月  [査読有り]

　概要を見る

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 (担当区分： 筆頭著者,　責任著者 )

Proc. of the 2016 IEEE/SICE International Symposium on System Integration (SII 2016) ( IEEE )    87 - 94   2016年12月  [査読有り]

DOI

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

Hiroki Dobashi, Hayato Kawai (担当区分： 筆頭著者,　責任著者 )

Webpage of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) Workshop     1 - 2   2016年10月  [査読有り]

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年09月  [査読有り]

DOI

駆動冗長性を有する高速パラレルメカニズムの高精度制御のための運動学的冗長自由度の導入方法

永井清, 土橋宏規, 指中孝仁, 山口康輔

日本ロボット学会誌   33 ( 5 ) 379 - 386   2015年06月  [査読有り]

DOI

組立作業のための平行スティック指汎用ハンドによる三次元形状部品の把持の最適化

土橋 宏規, 神岡 渉, 深尾 隆則, 横小路 泰義, 野田 哲男, 長野 陽, 永谷 達也 (担当区分： 筆頭著者,　責任著者 )

システム制御情報学会論文誌 ( 一般社団法人 システム制御情報学会 )  28 ( 6 ) 258 - 266   2015年  [査読有り]

　概要を見る

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年  [査読有り]

　概要を見る

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.