Abstract: Disclosed is a wheel structure including a first hub member, a plurality of spokes that are provided in a circumferential direction (C1) of the first hub member, protrude outward from the first hub member in an outward direction (R1) intersecting the circumferential direction (C1), and have sides coupled to the first hub member, guide parts to which the plurality of spokes are slidably coupled, and a second hub member to which sides of the guide parts are rotatably coupled, wherein the plurality of spokes include a rotation spoke rotatably coupled to the first hub member.

Abstract: A wheel structure includes a variable spoke configured to connect a wheel and a central shaft and having a length that varies in a radial direction of the wheel, a spoke driving unit configured to provide power for changing the length of the variable spoke in the radial direction, and a power transmission unit configured to transmit power from the spoke driving unit to the variable spoke. A plurality of variable spokes are spaced apart from one another in the circumferential direction. The power transmission unit includes an output shaft configured to rotate by receiving power from the spoke driving unit, and a clutch configured to connect the variable spoke and the output shaft and selectively transmit a rotational force of the output shaft to the variable spoke or cut off the transmission of the rotational force to the variable spoke.

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 robot path planning apparatus includes: a storage configured to receive an obstacle occupancy grid map, and a controller. The controller is configured to generate a cost map in which a cost corresponding to a separation distance from an obstacle to a movement area to which a robot is able to move is assigned, based on the obstacle occupancy grid map, determine a first path from a current location of the robot to a destination, and determine a second path by calibrating the first path based on the cost map.

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: An embodiment mobility includes a frame unit, a traveling drive unit disposed at a front or rear side of the frame unit and including a traveling wheel and a suspension module configured to change a position of the traveling wheel relative to the frame unit, and a suspension assistant unit having a first side coupled to the frame unit and a second side coupled to the suspension module, the suspension assistant unit including a wire member configured to pull the suspension module and having a first side coupled to the suspension module.

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 seating device includes a frame unit including a chair region capable of supporting a user and a leg region extending downward from the chair region, a backrest unit disposed at a rear side of the frame unit, and a handle unit coupled to a first side of the frame unit, the handle unit including a fixing handle body region having a first side coupled to the frame unit and rotatable relative to the frame unit and a lifting handle body region having a first side coupled to the fixing handle body region and rectilinearly movable relative to the fixing handle body region.

Abstract: A movable object includes: a steering part including a wheel provided to rotate along a ground, a wheel rod connected to the wheel and extending in a direction away from the wheel, and a steering motor connected to the wheel rod to rotate the wheel rod and steer the wheel; and a cover part disposed on top of the steering part, and including a receiving member in which a portion of the steering part is received. When the steering motor rotates the wheel rod in one direction, the steering part is engaged with the receiving member so that the steering part and the cover part may be joined, and when the steering motor rotates the wheel rod in an opposite direction, the steering part is separated from the receiving member so that the steering part and the cover part may be disengaged.

Abstract: A driving wheel includes: a first disc provided to be rotatable with respect to a rotary shaft; a second disc provided to be rotatable with respect to the rotary shaft; a plurality of spokes each protruding outward and each having a first side rotatably coupled to the first disc and a second side rotatably coupled to the second disc; a first motor to rotate the first disc; and a second motor to rotate the second disc.

Abstract: An embodiment driving module includes a drive unit including a wheel and a drive motor configured to operate the wheel, a suspension unit having a first side coupled to the drive unit, and a steering unit configured to steer the wheel and having a side coupled to a second side of the suspension unit.

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 steering part including a wheel provided to rotate along a ground, a wheel rod connected to the wheel and extending in a direction away from the wheel, and a steering motor connected to the wheel rod to rotate the wheel rod and steer the wheel; and a cover part disposed on top of the steering part, and including a receiving member in which a portion of the steering part is received. When the steering motor rotates the wheel rod in one direction, the steering part is engaged with the receiving member so that the steering part and the cover part may be joined, and when the steering motor rotates the wheel rod in an opposite direction, the steering part is separated from the receiving member so that the steering part and the cover part may be disengaged.

Abstract: In an embodiment a mobility vehicle platform includes a body part open toward an upper side and configured to receive a cabin at the upper side and a wheel part detachably connected to the body part, wherein the wheel part includes a steering member rotatable about an axis extending in an upward/downward direction, a wheel member connected to the steering member and configured to contact a ground surface, and a coupling member, into which the steering member is inserted, and detachably mounted to the body part, wherein the body part includes a body member configured to receive the cabin at an upper side thereof, and a protruding member coupled to the body member to protrude toward an outside of the body member, and to which the coupling member is coupled, and wherein the coupling member includes a first coupling part extending upwards and a second coupling part extending from an upper end of the first coupling part toward the body part.

Abstract: An embodiment variable chassis platform includes a body part having an interior space, an extension part configured to be inserted into the interior space of the body part along a first direction that crosses an upward/downward direction and an opposite direction thereto, a fixing part configured to fix the extension part to a specific location, and a wheel part coupled to one end of the extension part.

Abstract: An omnidirectional wheel and a three-wheeled vehicle using the same are provided. The omnidirectional wheel includes a tire that is formed in the shape of an open torus having an open portion and a main rotation unit that is connected to the tire to rotate the tire about a main rotation axis passing through the center of an inner opening formed in a circular hole shape by the tire. A circumferential rotation unit connects opposite ends of the tire that form the open portion therebetween and rotates the tire about a circumferential axis formed in a circumferential direction of the tire to move the tire in a direction parallel to the main rotation axis.

Abstract: A vehicle includes a main body configured to allow a user to ride on the main body, two driving wheels rotatably coupled to the main body, and a controlling wheel part rotatably coupled to the main body to control a direction of the vehicle in which the main body travels at a specific drive velocity by making contact with a ground surface to rotate about a vertical direction in a three-wheel mode. The main body includes a seat part formed to receive the user in a seated position, a steering part configured to obtain an inclination degree to perform steering based on the inclination degree in which the user seated on the seat part is inclined, in the three-wheel mode, and a post configured to connect the steering part with the seat part.

Abstract: A mobile object assembly system includes a mobile object assembly station. The mobile object assembly station includes a station body extending in an upward/downward direction and includes a first support that is coupled to one side surface of the station body and that presses one side surface of an upper cabin of a mobile object upwards.

Abstract: A driving wheel includes: a hub body disposed in a central region of the driving wheel; a plurality of spoke members inserted into the hub body and movable in a radial direction R of the driving wheel relative to the hub body; and link members each having one side coupled to one of the spoke members and the other side coupled to another spoke member disposed adjacent to the spoke member to which the one side of the link member is coupled. In particular, when the spoke members move in the radial direction R, the link members are rotatable about regions coupled to the spoke members.

Abstract: A rear side entry type wheelchair includes a driving device comprising a pair of driving frames provided on left and right sides thereof and driving wheels provided in the driving frames, respectively, a seat device including a pair of horizontal frames coupled to the driving device and saddles configured to be rotated about a vertical shaft on surfaces of the horizontal frames, a back support device including a back support opening/closing interworker provided on a rear side of the seat device and a back support provided in the back support opening/closing interworker configured to be foldable so as to be opened and closed, and a handle device provided on a front side of the seat device.