研究者詳細 - 土橋　宏規

論文 - 土橋　宏規

分割表示 >> ／全件表示56 件中 1 - 56 件目

絞り機構を用いたミニトマトの裂果を回避するヘタ除去手法の検討

永嶒友貴, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌（採録決定） ( 日本ロボット学会 ) 43 ( 3 ) 342 - 345 2025年04月 [査読有り]

DOI

部品トレイ区画内の任意の位置にある円柱部品に対する平行スティック指汎用ハンドを用いたロバスト把持戦略

阪口秀人, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌（採録決定） ( 日本ロボット学会 ) 2025年 [査読有り]

軸状部品の姿勢変更・アライメント機能を備えた汎用ハンドによるギヤユニットの治具レス組立て

柴田康平, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 42 ( 8 ) 809 - 812 2024年10月 [査読有り]

DOI

複数サイズ・種類の椀状食器に対応可能な食洗機ラックへの逆さ配置のためのグリッパの爪の設計

大辻翔雅, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 42 ( 8 ) 801 - 804 2024年10月 [査読有り]

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 (担当区分：筆頭著者,　責任著者 )

Proc. of the 20th IEEE/ASME International Conference on Mechatronic, Embedded Systems and Applications (MESA 2024) ( IEEE/ASME ) ( 64 ) 2024年09月 [査読有り]

重心位置が不確定な対象物の最適把持点導出方法の検討

直高宏起, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 42 ( 7 ) 692 - 695 2024年09月 [査読有り]

DOI

フラットベッドスキャナを用いたアライメント操作における部品の位置・姿勢精密計測装置の開発

宇根美鈴, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 42 ( 6 ) 576 - 579 2024年07月 [査読有り]

DOI

動力学的解析に基づく円形指による2nd-order form closure把持のための部品のアライメントの実現性の考察

角昇磨, 南昌弥, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 42 ( 3 ) 291 - 294 2024年04月 [査読有り]

DOI

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 )

IEEE Robotics and Automation Letters ( IEEE ) 9 ( 2 ) 1222 - 1229 2024年02月 [査読有り]

DOI

爪との干渉および不安定姿勢でのリリース動作を許容した平行グリッパによる部品の姿勢遷移

齋藤大起, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 42 ( 1 ) 90 - 93 2024年01月 [査読有り]

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 (担当区分：筆頭著者,　責任著者 )

Advanced Robotics ( Taylor & Francis ) 37 ( 20 ) 1329 - 1346 2023年10月 [査読有り]

DOI

ぐらつきを考慮した動力学的押し操作解析に基づく把持対象部品の許容初期位置姿勢誤差範囲の導出

グエン・チュン・タイン, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 41 ( 8 ) 720 - 723 2023年10月 [査読有り]

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 (担当区分：責任著者 )

Robotica ( Cambridge University Press ) 41 ( 8 ) 2464 - 2488 2023年07月 [査読有り]

DOI

食品の把持・高速運搬のための安定把持点の探索手法

山本貴大, 土橋宏規, 松岡諒, 白土浩司 (担当区分：責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 41 ( 5 ) 489 - 492 2023年06月 [査読有り]

DOI

平行スティック指ハンドによるトレイ上の仕切りに接した円柱状部品のロバスト把持戦略の計画

金谷由佳, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 41 ( 2 ) 202 - 205 2023年03月 [査読有り]

Study on Jig-less Assembly of Shaft-shaped Parts with an Improved Versatile Hand with Parallel Stick Fingers

Hiroki Dobashi, Kohei Shibata, Tetsuya Yamaguchi (担当区分：筆頭著者,　責任著者 )

Proc. of the 2023 IEEE/SICE International Symposium on System Integration (SII 2023) ( IEEE ) 606 - 612 2023年01月 [査読有り]

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年11月 [査読有り]

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年11月 [査読有り]

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

2本の円形指による2nd-order form closure把持のための部品のアライメントの実現性に関する基礎的考察

南昌弥, 土橋宏規 (担当区分：最終著者,　責任著者 )

日本ロボット学会誌 ( 日本ロボット学会 ) 40 ( 5 ) 453 - 456 2022年06月 [査読有り]

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 (担当区分：最終著者,　責任著者 )

Advanced Robotics 36 ( 9 ) 450 - 461 2022年03月 [査読有り]

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 (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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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

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]

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.

　前のページ-次のページ　

<土橋 宏規>

論文 - 土橋 宏規

<土橋　宏規>

論文 - 土橋　宏規