KR101675504B1 - Moving Robot Having Multiple Protrusion Members - Google Patents
Moving Robot Having Multiple Protrusion Members Download PDFInfo
- Publication number
- KR101675504B1 KR101675504B1 KR1020150045158A KR20150045158A KR101675504B1 KR 101675504 B1 KR101675504 B1 KR 101675504B1 KR 1020150045158 A KR1020150045158 A KR 1020150045158A KR 20150045158 A KR20150045158 A KR 20150045158A KR 101675504 B1 KR101675504 B1 KR 101675504B1
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- South Korea
- Prior art keywords
- main body
- mobile robot
- protrusions
- protrusion
- mesh
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A mobile robot including a plurality of projections is disclosed. The mobile robot 100 according to the embodiment of the present invention includes: a body portion having a flexible structure that can be bent in an arbitrary direction; At least two bending drivers mounted at equal intervals along the outer circumferential surface of the transverse main body of the main body; And a plurality of protrusions protruding from the outer surface of the main body by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.
According to the mobile robot of the present invention, since the main body portion and the driving portion, which can implement the swim of the fish, and the protruding portion that mimics a plurality of protruding portions of the steel quick pool are provided, It is possible to provide a mobile robot that can travel.
Description
BACKGROUND OF THE
1 is a photograph showing a mobile robot according to the prior art.
As shown in FIG. 1, a large number of robots capable of moving in a narrow space have been developed so far.
Figure 1 (a) shows Robobee developed by Harvard University's SEAS team. (B) Star developed by UC Berkeley University. (C) Paroys developed by Yonsei University. (D) Asterisk, (e) Meshworm developed by MIT, and (f) ACM-R5H developed by Hibot, Japan.
FIG. 1 (a) shows a robot flying on a small wing, (b) a robot traveling on a rough terrain by using a sawtooth type rotary blade, (c) a robot traveling in a pipe by using an infinite orbit, (d) is a multifunctional robot having a plurality of joints, (e) is a robot that wriggles using a mesh structure, and (f) is a robot that travels like a snake using a body formed with a plurality of joints.
These robots have different transport mechanisms to drive narrow and rough terrain.
However, the above-mentioned robots have problems. Specifically, Robobee in (a) has a problem that it is difficult to fly in a very narrow space. In case of (b) Star, it is difficult to downsize because it uses many motors and uses a saw blade type rotating blade. (C) has a problem that it is difficult to downsize because it uses an infinite orbit, and (d) the Asterisk requires a lot of driving motors to support and move the body, (E), there is a problem that the support is required to support the body in the case of the meshhworm having a very weak force, and (f) In this paper, we propose a new control algorithm for the driving motors. "He said.
Accordingly, there is a need for a technique capable of solving the problems of the conventional mobile robot.
It is an object of the present invention to provide a mobile robot which can easily travel in various environments including narrow and rough terrain.
According to an aspect of the present invention, there is provided a mobile robot comprising: a body portion having a flexible structure that can be bent in an arbitrary direction; At least two bending drivers mounted at equal intervals along the outer circumferential surface of the transverse main body of the main body; And a plurality of protrusions extending from the outer surface of the main body part by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.
In this case, the bending drive unit may be selected from the group consisting of: a muscle wire moving by an electric signal, a shape memory alloy moving by an electric signal (Shape Memory Alloy, SMP), and a tube moving by hydraulic pressure.
According to another aspect of the present invention, there is provided a mobile robot comprising: a tubular structure having a flexible structure capable of bending in an arbitrary direction; A cable which is mounted on one end of the main body and has a rotation pulley and is driven to rotate in one direction or the other direction by a rotation operation of the rotation pulley is mounted on the rotation pulley, A driving unit coupled to the other end of the portion; And a plurality of protrusions extending from the outer surface of the main body part by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.
According to another aspect of the present invention, there is provided a mobile robot comprising: a tubular structure of a flexible structure capable of bending in an arbitrary direction; Wherein a cable driven in one direction or another direction is mounted to each of the rotation pulleys by a rotation operation of the rotation pulley, and both ends of the cable are mounted on the mounting positions A driving unit which is coupled to the other end of the main body facing the main body; And a plurality of protrusions extending from the outer surface of the main body part by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.
According to another aspect of the present invention, there is provided a mobile robot comprising: at least two body portions each having a cylindrical structure and connected to each other by a main body connection portion; A main body connecting portion having a flexible structure which is mounted on both ends of the driving portion fixing member and is arranged between the two driving portion fixing members so as to be spaced apart from each other by a predetermined distance so as to be connected to each other and to be bent in an arbitrary direction; A cable driven in one direction or the other by a rotation operation of the rotation pulley is mounted to each of the rotation pulleys, and the cable is mounted on the driving unit fixing member mounted on both ends of the main body connection portion, The driving unit being coupled to the other end of the main body opposite to the mounting position of each of the driving units; And a plurality of protrusions extending from the outer surface of the main body part by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.
Also, a guide hole through which the cable can move may be formed in the body portion.
In an embodiment of the present invention, the main body may be a tube made of a flexible material or a coil spring composed of a plurality of coils.
In one embodiment of the present invention, the rotation pulleys of the driving units mounted on both end portions of the main body may be installed in directions in which the rotation shafts of the respective rotation pulleys are orthogonal to each other.
In an embodiment of the present invention, both end portions of the cable bundled at both ends of the main body portion may be arranged symmetrically with each other at a predetermined interval on a transverse plane.
According to an embodiment of the present invention, a mesh-like member having a plurality of through-holes is formed on an outer surface of the main body to surround the main body, and a plurality of protrusions are formed on the outer surface of the main body through the through- As shown in FIG.
In this case, the cable located between the rotating pulley and the other end of the main body portion can be connected to the mesh-like member through the plurality of through-holes of the mesh-like member, passing through the inside and outside of the mesh-like member.
Further, the mesh-like member can be changed in the longitudinal direction of the main body portion to change the protruding direction of the protruding portion.
Further, the mesh-like member can be changed in the circumferential direction of the main body to change the protruding length of the protruding portion.
According to an embodiment of the present invention, a fixing member for mounting a plurality of protrusions in a hinge structure may be mounted on the outer surface of the main body portion so as to surround the main body portion.
In this case, the protruding portion is an isosceles triangular or triangular structure on the side surface, and any one vertex portion having the same length on both sides adjacent to each other is bound to the fixing member and the hinge structure, and extends from the vertex portion toward the main body portion, And the fixing member changes its position in the longitudinal direction of the main body to change the protruding direction of the protruding portion.
In one embodiment of the present invention, the mobile robot further includes a power supply unit mounted inside the main body and supplying power to the driving unit. At this time, the power supply unit may be a secondary battery which can be charged and discharged.
In one embodiment of the present invention, the mobile robot may further include: a control unit mounted inside the main body and controlling the operation of the driving unit. The mobile robot may further include: a sensor mounted inside the main body and capable of detecting the state of the peripheral feature of the mobile robot; And a position sensor mounted inside the main body and detecting a direction and an arrangement of the mobile robot, wherein the controller can control operation of the driving unit based on data detected through the sensing sensor and the position sensor.
The present invention can also provide a mobile robot including two or more mobile robots, wherein the mobile robots are connected to each other by a flexible connection structure, a hinge structure, or a universal joint.
As described above, according to the mobile robot of the present invention, by providing the main body portion and the driving portion capable of realizing the swim of the fish, and the protruding portion mimicking the plurality of protruding portions of the dog pool, it is possible to provide a narrow, It is possible to provide a mobile robot that can easily travel in various environments including a mobile robot.
Further, according to the mobile robot of the present invention, by providing the mesh-like member or the fixing member capable of changing the protruding direction of the protruding portion, it is possible to easily change the traveling direction in various environments including narrow and rough terrain.
Further, according to the mobile robot of the present invention, since the protruding length of the protruding portion can be changed and the main body portion is provided, the protruding length of the protruding portion can be adjusted to suit various environments including narrow and rough terrain, It is possible to provide a mobile robot that can easily travel.
1 is a photograph showing a mobile robot according to the prior art.
2 is a front view of a mobile robot according to a first embodiment of the present invention.
3 is an enlarged view of a portion A of Fig. 2
4 is a front view showing the movement of the mobile robot shown in Fig.
5 is a perspective view showing the main body of the mobile robot shown in Fig.
6 is a perspective view of a mobile robot according to a second embodiment of the present invention.
7 is a plan view showing the mobile robot shown in Fig.
FIG. 8 is a perspective view of a mobile robot according to another embodiment of the present invention, which is different from the direction of the rotation axis of the rotation pulley of the driving unit mounted on both ends of the main body in the mobile robot shown in FIG.
9 is a plan view showing the mobile robot shown in Fig.
10 is a perspective view showing a mobile robot according to a third embodiment of the present invention.
11 is an exploded view of the mobile robot shown in Fig.
12 to 16 are schematic diagrams for explaining the principle of moving motion implementation of a mobile robot according to an embodiment of the present invention.
17 is a schematic diagram illustrating various environments in which a mobile robot can move according to an embodiment of the present invention.
18 is a perspective view showing a structure of a projection according to an embodiment of the present invention.
19 is a front view showing the structure of the protrusion shown in Fig.
20 is a cross-sectional view showing the operation principle of the projection shown in Fig.
21 is a cross-sectional view showing the structure of a projection according to another embodiment of the present invention.
Figs. 22 and 23 are cross-sectional views showing a state in which the projecting portion shown in Fig. 21 is actuated to change the projecting direction.
FIG. 24 is a perspective view showing a structure of a protrusion part capable of changing a protrusion length according to an embodiment of the present invention. FIG.
25 is a front view of a mobile robot according to another embodiment of the present invention.
26 is a front view of a mobile robot according to another embodiment of the present invention.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Prior to the description, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and should be construed in accordance with the technical concept of the present invention.
Throughout this specification, when a member is "on " another member, it includes the case where there is another member between the two members as well as when the member is in contact with the other member.
Throughout this specification, when an element is referred to as "including" an element, it is understood that it may include other elements as well, without departing from the other elements unless specifically stated otherwise.
The mobile robot according to an embodiment of the present invention may include a main body, a bending driver, and a
Specifically, the body portion can be a flexible structure that can be bent in any direction. In addition, the bending drive unit may be mounted at two or more in the longitudinal direction of the main body, and may be disposed at regular intervals along the outer peripheral surface of the main body on the transverse side of the main body. The plurality of protrusions may extend from the outer surface of the main body portion by a predetermined length and may be formed of a material having a certain size of elasticity, the protrusions being aligned in one direction.
The operation of the bending drive unit allows the main body to perform a wiggling operation, whereby the mobile robot is moved by the plurality of protrusions formed on the outer surface of the main body.
The above-mentioned bending drive unit is not particularly limited as long as it is a member or apparatus capable of wiggling the body portion. For example, the bending drive unit may be formed by a musical wire moving by an electric signal, a shape memory alloy (SMP) , Or a tube that is moved by hydraulic pressure. The type of the bending driver described above is only one example, and it is needless to say that the bending driver can be appropriately changed according to the designer's intention.
Hereinafter, a detailed configuration will be described in detail.
FIG. 2 is a front view showing a mobile robot according to a first embodiment of the present invention, and FIG. 3 is an enlarged view of a portion A in FIG. Fig. 4 is a front view showing the movement of the mobile robot shown in Fig. 2, and Fig. 5 is a perspective view showing the main body of the mobile robot shown in Fig.
Referring to these figures, the
5, the
The driving
2 and 3, a
Therefore, as shown in FIG. 4, the
3, a
The rotation direction of the
2 and 3, the
FIG. 6 is a perspective view showing a mobile robot according to a second embodiment of the present invention, and FIG. 7 is a plan view showing the mobile robot shown in FIG.
Referring to these figures, the
The driving
6 and 7, the rotation pulleys 121 and 122 of the
Therefore, as shown in FIG. 6, the
As a result, the
FIG. 8 is a perspective view showing a mobile robot according to another embodiment of the present invention, which is different from the direction of the rotating shaft of the rotating pulley, and FIG. 9 is a plan view showing the mobile robot shown in FIG. 8, only a part of the
6 and 7, the mobile robot 200 'according to the present embodiment is configured such that, in the direction of the rotation axes 121A' and 122A 'of the rotation pulleys 121' and 122 ' 6 and the direction of the rotation axes 121A, 122A of the
Specifically, the directions of the
However, in the case of the mobile robot 200 'according to the present embodiment, as shown in Figs. 8 and 9, both end
Therefore, the mobile robot 200 'according to the present embodiment can also implement the same operation as the
FIG. 10 is a perspective view showing a mobile robot according to a third embodiment of the present invention, and FIG. 11 is an exploded view of the mobile robot shown in FIG. 10 and 11 show only a part of the protruding
Referring to these drawings, the
Specifically, as shown in FIGS. 10 and 11, the
The main
The driving
11, a
Meanwhile, the
11, the mesh-
Also, as shown in FIGS. 10 and 11, a
12 to 16 are schematic diagrams illustrating the principles of mobile motion implementation of a mobile robot according to an embodiment of the present invention.
Referring to FIG. 12, the
13 shows a state in which the
As shown in Fig. 14, the
Specifically, as the upper part of the
As the upper portion of the
On the other hand, as shown in FIG. 15, the
As a result, as shown in Fig. 16, the
17 is a schematic diagram illustrating various environments in which a mobile robot can move according to an embodiment of the present invention.
As described above, the
Specifically, the
Therefore, according to the mobile robot of the present invention, by providing the body portion and the driving portion capable of swinging the fish, and the protruding portion mimicking the plurality of protruding portions of the dog pool, it is possible to provide various environments including narrow and rough terrain It is possible to provide a mobile robot which can be easily moved on the road.
FIG. 18 is a perspective view showing the structure of the protrusion according to the embodiment of the present invention, and FIG. 19 is a front view showing the structure of the protrusion shown in FIG. 20 is a sectional view showing the operation principle of the projection shown in Fig.
The mesh-
18, the plurality of
At this time, as shown in FIG. 19, the protrusion direction of the
The principle of the positional change of the mesh-
As shown in FIG. 20, both ends of the mesh-
The bi-directional moving
Therefore, the projecting direction of the
The above-mentioned method is only one embodiment, but the present invention is not limited thereto.
Therefore, according to the mobile robot of the present invention, by providing the mesh-like member capable of changing the protruding direction of the protrusion, it is possible to easily change the traveling direction in various environments including narrow and rough terrain.
21 is a cross-sectional view showing the structure of the protrusion according to another embodiment of the present invention, and Figs. 22 and 23 are sectional views showing a state in which the protrusion shown in Fig. 21 is operated to change the protrusion direction have.
Referring to these drawings, the
At this time, the fixing
A
Accordingly, as shown in FIGS. 22 and 23, the fixing
Therefore, according to the mobile robot of the present invention, since the direction changing projection portion capable of changing the protruding direction of the protruding portion, the protruding portion bound by the hinge structure, and the fixing member are provided, it is possible to easily change the traveling direction in various environments including narrow and rough terrain .
Fig. 24 is a perspective view showing the structure of a protrusion part capable of changing a protrusion length according to an embodiment of the present invention.
Referring to FIG. 24, the mesh-
Accordingly, the mobile robot including the configuration according to the present embodiment can adjust the length of the
FIG. 25 is a front view showing a mobile robot according to another embodiment of the present invention.
Referring to FIG. 25, the
25, the
The
26 is a front view showing a mobile robot according to another embodiment of the present invention.
Referring to FIG. 26, the
Therefore, according to the mobile robot of the present invention, the protruding direction and the protruding length of the protruding portion can be adjusted so as to be suitable for various environments including narrow and rough terrain, thereby providing a mobile robot that can be easily adapted to various environments.
In the above description of the present invention, only specific embodiments thereof are described. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .
That is, the present invention is not limited to the above-described specific embodiment and description, and various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. And such variations are within the scope of protection of the present invention.
1: Wall
10: Simplified mobile robot for analysis
11: Head
12: Waist
13: tail
100: Mobile robot
110:
111: Guide hole
120:
121, 121 ': rotation pulley
122, 122 ': rotation pulley
121A and 121A '
122A and 122A '
125: Cable
126: Cable guide
127: Guide hole
130: protrusion
135: protrusion
136: turning protrusion
140:
150:
160: mesh-like member
161: Through hole
165: auxiliary connection member
170: Fixing member
171: Hinge structure
175:
176:
177:
178: lubricating coating portion
181: Power supply
182:
183: Detection sensor
184: Position sensor
185: Connection
186: Camera
200: Mobile robot
200 ': Mobile robot
300: Mobile robot
400: Mobile robot
L1: continuous bending section
L2: curve section
L3: 120 degree bending section
L4: 90 degree bending section
L5: Rugged section
Claims (20)
At least two bending drivers mounted at equal intervals along the outer circumferential surface of the transverse main body of the main body;
A plurality of protrusions 130 protruding from the outer surface of the body portion by a predetermined length, the protrusions being aligned in one direction and having a predetermined elastic force;
And a controller for controlling the robot.
Wherein the bending drive unit is selected from the group consisting of a musical wire moving by an electric signal, a shape memory alloy moving by an electric signal (Shape Memory Alloy, SMP), and a tube moving by hydraulic pressure.
A cable 125 mounted on one end of the main body 110 and provided with a rotating pulley 121 and driven by the rotating pulley 121 in one direction or another direction, And both ends of the cable 125 are coupled to the other end of the main body 110 facing the mounting position of the driving unit 120;
A plurality of protrusions 130 protruding from the outer surface of the main body 110 by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude;
(100). ≪ / RTI >
122 are mounted on both ends of the main body 110 and are provided with rotation pulleys 121 and 122. The rotation of the rotation pulleys 121 and 122 is transmitted to one side A driving unit 120 coupled to the other end of the main body 110 opposite to the mounting position of each of the driving units 120;
A plurality of protrusions 130 protruding from the outer surface of the main body 110 by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude;
(200).
A driving part fixing member 150 is mounted at both ends and a main body part 110 is arranged between the two driving part fixing members 150 by a predetermined distance so as to be aligned with each other and connected to each other, A body connecting portion 140 of a structure;
122 are mounted on a driving part fixing member 150 mounted on both ends of the main body connecting part 140 and each of the rotating pulleys 121 and 122 is provided with a rotation pulley 121, And a cable 125 driven in one direction or another direction by a rotation operation of the driving unit 120. The cable 125 is mounted on the other end of the main body 110 opposite to the mounting position of the driving unit 120, A driving unit 120 coupled to the driving unit 120;
A plurality of protrusions 130 protruding from the outer surface of the main body 110 by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude;
(300).
Wherein the main body (110) is a tube made of a flexible material or a coil spring composed of a plurality of coils.
And a guide hole (111) through which a cable can move is formed in the main body (110).
The rotation pulleys 121 and 122 of the driving unit 120 mounted on both ends of the main body 110 are installed in a direction in which the rotation shafts 121A and 122A of the respective rotation pulleys 121 and 122 are orthogonal to each other Wherein the mobile robot is a mobile robot.
Wherein both end portions (125) of cables, which are respectively coupled to both ends of the body portion (110), are symmetrically arranged at a predetermined interval on a transverse plane.
A mesh member 160 having a plurality of through holes is mounted on the outer surface of the main body 110 to surround the main body 110,
Wherein a plurality of protrusions (130) are fixed to an outer surface of the main body (110) through a through hole (161) of the mesh - like member (160).
The cable 125 positioned between the rotating pulleys 121 and 122 and the other end of the main body 110 is connected to the end of the mesh member 160 through the plurality of through holes 161 of the mesh- And is connected to the mesh-like member (160) while passing between the inner side and the outer side.
Wherein the mesh-like member (160) changes its position in the longitudinal direction of the main body (110) to change the protruding direction of the protrusion (130).
Wherein the mesh-like member (160) changes its position in the circumferential direction of the main body (110) to change the protrusion length of the protrusion (130).
Wherein a fixing member (170) for mounting a plurality of protrusions (135) by a hinge structure (171) is mounted on the outer surface of the main body part (110) so as to surround the main body part (110).
The protrusion 135 has an isosceles triangle or triangle structure on the side surface,
Any one vertex portion having the same length on both adjacent sides is bound to the fixing member 170 and the hinge structure 171,
A direction changing protrusion 136 extending from the vertex portion in the direction of the main body 110 to be coupled with the main body 110 is formed,
Wherein the fixing member (170) changes its position in the longitudinal direction of the main body (110) and changes the projecting direction of the protrusion (130).
The mobile robot includes:
Further comprising a power supply unit (181) mounted inside the body part (110) and supplying power to the bending drive unit or the drive unit (120).
Wherein the power supply unit (181) is a secondary battery capable of charging and discharging.
The mobile robot includes:
Further comprising a control unit (182) mounted inside the main body (110) and controlling the operation of the bending drive unit or the drive unit (120).
The mobile robot includes:
A detection sensor 183 mounted inside the main body 110 and capable of detecting the state of the peripheral feature of the mobile robot; And
A position sensor 184 installed inside the main body 110 for detecting the direction and arrangement of the mobile robot;
Lt; / RTI >
Wherein the control unit (182) controls the operation of the bending drive unit or the drive unit (120) based on the data detected through the detection sensor (183) and the position sensor (184).
Wherein the mobile robot is coupled to each other by a flexible connection structure, a hinge structure, or a universal joint.
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CN108818495B (en) * | 2018-07-13 | 2021-02-26 | 南京航空航天大学 | Flexible robot based on piezoelectric drive and control method thereof |
CN114427928B (en) * | 2022-02-07 | 2024-03-22 | 北京半导体专用设备研究所(中国电子科技集团公司第四十五研究所) | Multi-directional disturbance force testing device and testing method for cable |
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KR101045377B1 (en) * | 2008-07-28 | 2011-06-30 | 전남대학교산학협력단 | micro robot and driving system of the same |
KR20120014379A (en) | 2010-08-09 | 2012-02-17 | 삼성중공업 주식회사 | Mobile robot |
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Title |
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대한기계학회 2007년도 춘계학술대회 강연 및 논문 초록집. 대한기계학화. 2007.05., (pp 2849-2854) |
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