Abstract: A wheel assembly includes a wheel, and a driving module connected to the wheel. In particular, the driving module includes: a first motor defining a first rotation axis extending in an axial direction of the wheel and configured to rotate the wheel about the first rotation axis, a second motor that rotates the wheel about a second rotation axis spaced apart from the first rotation axis in a radial direction of the wheel, and a third motor that provides a driving force for steering the wheel in a third rotation axis that extends in a direction crossing the first rotation axis and the second rotation axis. The second motor is disposed to be spaced apart from the third rotation axis in a first direction that crosses the second rotation axis and the third rotation axis.

Abstract: A wheel assembly includes a wheel, and a driving module connected to the wheel. The driving module includes a first motor defining a first rotation axis extending in an axial direction of the wheel, and that rotates the wheel about the first rotation axis, a second motor defining a second rotation axis spaced apart from the first rotation axis in a radial direction of the wheel, and that rotates the wheel about the second rotation axis, and a third motor that provides a driving force for steering the wheel about a third rotation axis extending in a direction crossing the first rotation axis and the second rotation axis. When a direction crossing the second rotation axis and the third rotation axis is a first direction, the third motor is disposed to be spaced apart from the third rotation axis in the first direction.

Abstract: A robot includes a moving body including a body part, an information acquisition part, and a controller that controls the moving body. The moving body further includes a plurality of wheels disposed on both sides of the body part in a front-rear direction. The controller determines a first allowable acceleration that is an allowable acceleration of the moving body in a reference posture and a second allowable acceleration that is an allowable acceleration of the moving body in a current posture, compares the first allowable acceleration and the second allowable acceleration, and controls the moving body based on the posture of the moving body and a difference between the first allowable acceleration and the second allowable acceleration.

Abstract: The present disclosure provides a drive module that includes a drive part that is coupled to a wheel and has first to third motors. The drive part also includes a sensor part that has first to third sensors to detect a motion of the drive part. The sensor part includes a first sensor that is configured to detect a motion of the first rotary shaft, a second sensor that is configured to detect a motion of the second rotary shaft and a third sensor that is configured to detect a motion of the third rotary shaft.

Abstract: A driving device includes a wheel part with a wheel frame, and a wheel driving unit disposed at a center of the wheel frame to be able to rotate the wheel frame, an eccentric part connecting a vehicle body to the wheel part, and a suspension coupled to the wheel part and to the eccentric part. The suspension is configured to provide an elastic force to damp an impact between the vehicle body and the wheel body. The eccentric part includes an eccentric center having a rotation center being eccentric from a rotation axis of the wheel part, and an eccentric link extending from the eccentric center. The eccentric link is rotatable about the rotation axis of the wheel frame.

Abstract: A driving module includes a wheel unit, a first driving unit, a second driving unit, and a third driving unit. The wheel unit includes a traveling wheel that has a center through which a wheel rotation axis passes. The first driving unit includes a first shaft member that is coupled to the wheel unit so that rotation driving force about a first rotation axis eccentric from the wheel rotation axis in a radial direction of the wheel unit is applied to the wheel unit to thereby rotate the traveling wheel about the wheel rotation axis. The second driving unit is coupled to the wheel unit to rotate the wheel unit about the first rotation axis and having a cavity through which the first shaft member passes. The third driving unit is configured to steer the wheel unit about a second rotation axis perpendicular to the first rotation axis.

Abstract: A mobile object includes drive parts each having one side coupled to each wheel, in which the drive part includes: a first motor including a first rotary shaft and configured to rotate a respective one of the wheels about the first rotary shaft; a second motor including a second rotary shaft spaced apart from the first rotary shaft in a radial direction of the respective one of the wheels, the second motor being configured to rotate the respective one of the wheels about the second rotary shaft; and a third motor including a third rotary shaft extending in a direction intersecting the first rotary shaft and the second rotary shaft, the third motor being configured to steer the respective one of the wheels about the third rotary shaft.

Abstract: A movable object such as a mobile robot is designed to be driven indoors or outdoors with improved stability. Stability is enhanced by an attitude control mechanism to improve attitude stability of the movable object in a direction perpendicular to a driving direction thereof. The movable object includes an attitude control motor including a connecting shaft having a first end connected to a body part and a second end connected to a wheel, wherein the second end of the connecting shaft is located higher or lower than the first end of the connecting shaft.

Abstract: An embodiment mobility for delivering articles includes a frame defining a body of the mobility, a chain member coupled to a first side of the frame, wherein the chain member has a closed curve shape along an up-down direction, is movable relative to the frame, and includes a standby section provided at a fixed position with respect to the frame irrespective of a movement of the chain member, wherein the standby section includes a plurality of bent areas, a tray member having a first side coupled to the chain member, the tray member being movable in connection with a movement of the chain member, a wheel coupled to a lower portion of the frame, and a driver configured to provide a driving force to the chain member.

Abstract: A movable object includes: a body part forming a main body; a wheel provided on a left side or a right side of the body part; a steering module connecting the body part and the wheel, wherein the steering module controls movement of the wheel in a manner that steers the wheel to the left when the wheel moves upward with respect to the body part, and steers the wheel to the right when the wheel moves downward with respect to the body part.

Abstract: An embodiment mobility for delivering articles includes a frame defining a body of the mobility, a chain member coupled to a first side of the frame, wherein the chain member has a closed curve shape along an up-down direction, is movable relative to the frame, and includes a standby section provided at a fixed position with respect to the frame irrespective of a movement of the chain member, wherein the standby section includes a plurality of bent areas, a tray member having a first side coupled to the chain member, the tray member being movable in connection with a movement of the chain member, a wheel coupled to a lower portion of the frame, and a driver configured to provide a driving force to the chain member.

Abstract: A mobile object includes drive parts each having one side coupled to each wheel, in which the drive part includes: a first motor including a first rotary shaft and configured to rotate a respective one of the wheels about the first rotary shaft; a second motor including a second rotary shaft spaced apart from the first rotary shaft in a radial direction of the respective one of the wheels, the second motor being configured to rotate the respective one of the wheels about the second rotary shaft; and a third motor including a third rotary shaft extending in a direction intersecting the first rotary shaft and the second rotary shaft, the third motor being configured to steer the respective one of the wheels about the third rotary shaft.

Abstract: The present disclosure provides a drive module that includes a drive part that is coupled to a wheel and has first to third motors. The drive part also includes a sensor part that has first to third sensors to detect a motion of the drive part. The sensor part includes a first sensor that is configured to detect a motion of the first rotary shaft, a second sensor that is configured to detect a motion of the second rotary shaft and a third sensor that is configured to detect a motion of the third rotary shaft.

Abstract: A movable object such as a mobile robot is designed to be driven indoors or outdoors with improved stability. Stability is enhanced by an attitude control mechanism to improve attitude stability of the movable object in a direction perpendicular to a driving direction thereof. The movable object includes an attitude control motor including a connecting shaft having a first end connected to a body part and a second end connected to a wheel, wherein the second end of the connecting shaft is located higher or lower than the first end of the connecting shaft.

Abstract: A movable object includes: a body part forming a main body; a wheel provided on a left side or a right side of the body part; a steering module connecting the body part and the wheel, wherein the steering module controls movement of the wheel in a manner that steers the wheel to the left when the wheel moves upward with respect to the body part, and steers the wheel to the right when the wheel moves downward with respect to the body part.