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]

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]

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 )   2016.12

　View Summary

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  [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.