Four years later, in 1987, Robinson was inducted to the Rock & Roll Hall of Fame. Robinson's single "Just to See Her"" from the "One Heartbeat" album was awarded the 1988 Grammy Award for Grammy Award for Best Male R&B Vocal Performance. This was Robinson's first Grammy Award. One year later, in 1989, he was inducted to the Songwriter's Hall of Fame. In 1993, Robinson was awarded a medal at the National Medal of Arts. Two years before, he won the Heritage Award at the Soul Train Music Awards. In 2005, Robinson was voted into the Michigan Rock and Roll Legends Hall of Fame. At its 138th Commencement Convocation in May 2006, Howard University conferred on Robinson the degree of Doctor of Music, "honoris causa". In December 2006 Robinson was one of five Kennedy Center honorees, along with Dolly Parton, Zubin Mehta, Steven Spielberg and Andrew Lloyd Webber.