Abstract: A pipe handling system for handling drill pipe may include a lifting system configured for handling a load of a pipe stand and a pipe handling robot configured for manipulating a position of the pipe stand. The robot may include an end effector configured for engaging the pipe stand. The system may also include a controller configured for controlling the pipe handling robot to maintain the end effector in substantial alignment with the pipe stand using a vector constraint.

Abstract: A wheelchair type robot for use as a walking aid wherein an outer skeleton to be worn on the lower body of a user is combined with a lift and a drive part in a wheelchair form. The drive part is furnished with a drive motor and wheels that are installed on a main frame. The lift is furnished with an outer linear guide that is fixed and joined with the main frame, an inner linear guide that can move up and down along same, an upper chair part that connects with the inner linear guide to enable up and down motion, and a lower chair part that connects with the outer linear guide such that unfolds if the inner linear guide descends and folds if it ascends.

Abstract: A wheelchair type robot for use as a walking aid wherein an outer skeleton to be worn on the lower body of a user is combined with a lift and a drive part in a wheelchair form. The drive part is furnished with a drive motor and wheels that are installed on a main frame. The lift is furnished with an outer linear guide that is fixed and joined with the main frame, an inner linear guide that can move up and down along same, an upper chair part that connects with the inner linear guide to enable up and down motion, and a lower chair part that connects with the outer linear guide such that unfolds if the inner linear guide descends and folds if it ascends.