論文 - 土橋　宏規

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年12月  [査読有り]

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年12月  [査読有り]

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年01月  [査読有り]

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年01月  [査読有り]

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 (担当区分： 筆頭著者,　責任著者 )

Advanced Robotics ( TAYLOR & FRANCIS LTD )  28 ( 15 ) 1005 - 1019   2014年  [査読有り]

　概要を見る

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年  [査読有り]

　概要を見る

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年  [査読有り]

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年  [査読有り]

　概要を見る

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.

準静的押し操作解析に基づく多指ハンドによる把持シミュレーションと対象物体の許容初期誤差範囲の導出

土橋 宏規, 横小路 泰義, 野田 哲男, 奥田 晴久 (担当区分： 筆頭著者,　責任著者 )

日本ロボット学会誌 ( 一般社団法人 日本ロボット学会 )  28 ( 10 ) 1201 - 1212   2010年12月  [査読有り]

　概要を見る

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 (担当区分： 筆頭著者,　責任著者 )

Proc. of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) ( IEEE )    2096 - 2102   2010年10月  [査読有り]

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年07月  [査読有り]

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

Hiroki Dobashi, Yasuyoshi Yokokohji, Akio Noda, Haruhisa Okuda (担当区分： 筆頭著者,　責任著者 )

Proc. of the 2010 International Symposium on Flexible Automation (ISFA 2010)     JPL-2452   2010年07月  [査読有り]

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

Kohei Shibata, Hiroki Dobashi (担当区分： 最終著者,　責任著者 )

Proc. of the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) ( IEEE )    2024年05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 )

Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA 2020)     2020年06月  [査読有り]

Erratum to: Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators (ROBOMECH Journal, (2016), 3, 1, (22), 10.1186/s40648-016-0057-z)

Tam Nhat Le, Hiroki Dobashi, Kiyoshi Nagai

ROBOMECH Journal ( Springer International Publishing )  3 ( 1 )   2016年12月

　概要を見る

Unfortunately, the original version of this article [1] contained an error. The acknowledgements section was included incorrectly. The correct acknowledgements section can be found below. This work was supported by the MEXT-Supported Program for the Strategic Research Foundation at Private Universities, S1311038.

DOI

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年  [査読有り]

　概要を見る

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.