Abstract: A robot includes a body, a pair of wheels rotatably provided at a lower part of the body, a cargo box provided at an upper part of the body, an inertial measurement sensor configured to measure a tilt angle of the body, a pair of wheel encoders configured to measure a rotational angle of each of the pair of wheels, a cargo box encoder configured to measure a tilt angle of the cargo box, a pair of wheel motors configured to transmit a torque to each of the pair of wheels, a cargo box motor configured to transmit a torque to the cargo box, and a controller. The controller is configured to control the pair of wheel motors and the cargo box motor to allow the robot to make a double axis inverted pendulum motion on an axis of each of the pair of wheels and the cargo box.

Abstract: A travel control device and method control for a mobility device is disclosed. The travel control device includes a distance sensor on one side frame of the mobility device and adjusts a travel speed of the mobility device based on a distance to stairs measured by the distance sensor when the mobility device travels on the stairs to reduce collision force between the mobility device and the stairs, thereby improving the traveling stability and immediacy of the mobility device.

Abstract: A moving body includes a body, and a wheel coupled to the body to be rotatable, and the body includes a first body part, a second body part connected to the first body part to be slid in a forward/rearward direction with respect to the first body part, a first coupling part formed in the first body part or the second body part, and a second coupling part coupled to the first coupling part and constrains sliding between the first body part and the second body part.

Abstract: A moving body including a body, a wheel coupled to the body and configured to rotate relative to the body, and an auxiliary wheel connected to the body and configured to move upwards and downwards. The auxiliary wheel has an area protruding more downwards than the wheel when the auxiliary wheel is moved to a lowermost side.

Abstract: An apparatus and method for controlling driving of a moving object that climbs up or down stairs comprises a tilt sensor configured to sense a slope of the moving object in a pitch direction, and a processor configured to reduce a speed of the moving object in a specific section while the moving object climbs up or down the stairs, based on the sensed slope.

Abstract: In an embodiment a robot control apparatus includes at least one first sensor provided on a front of a head part of a robot including a wheel part and the head part connected to an upper portion of the wheel part, the first sensor being configured to sense a first distance from a ground, at least one second sensor provided on a rear of the head part and configured to sense a second distance from the ground and a controller configured to determine a driving environment of the robot based on at least one of the first distance or the second distance and adjust a control gain related to a balance control of the robot based on the determined driving environment.

Abstract: A wheel includes a deformable part reversibly deformable in shape by an external force, wherein the deformable part includes an inner region having a shape extending in a peripheral direction, an outer region having a shape extending in the peripheral direction and spaced apart outward from the inner region in a radial direction, and a spoke region provided between the inner region and the outer region and having a first side connected to the inner region and a second side connected to the outer region. The spoke region includes a first spoke region having a section protruding in a first of two peripheral directions and a second spoke region disposed at a first side of the first spoke region based on a second of the two peripheral directions opposite the first peripheral direction, wherein the second spoke region has a section protruding in the second peripheral direction.

Abstract: A mobile apparatus is provided. The mobile apparatus may include: a body including a material of which a shape is reversibly deformable; a first link rotatably coupled to the body; a second link having one side rotatably coupled to the first link and the other side rotatably coupled to the body; a first shaft provided in a region, in which the first link is rotatably coupled to the body, and inserted into the first link and the body; a second shaft provided in a region, in which the second link is rotatably coupled to the first link, and inserted into the first link and the second link; and a third shaft provided in a region, in which the second link is rotatably coupled to the body, and inserted into the second link and the body.

Abstract: A delivery robot control apparatus for controlling a delivery robot to unload an object and a method thereof are disclosed. A camera is provided in the delivery robot having an internal loading space for one or more floors and obtains an image including a door module which is provided in the delivery robot and connected to a frame forming the internal loading space. The controller determines up and low positions of the door module based on the image, and controls a first motor to move the door module to a target position based on the determined up or low position of the door module.

Abstract: Disclosed is a mobile object including a body part, a drive part coupled to one side of the body part and including one or more wheels, and an accommodation part coupled to the other side of the body part and having an internal space capable of accommodating an article, in which the drive part is coupled to a lower region of the body part, and the body part is rotatably coupled to the drive part, and in which the accommodation part is coupled to an upper region of the body part, and the accommodation part rotatably coupled to the body part.

Abstract: An embodiment mobile object includes a frame part having an internal space, a wheel part coupled to a first side of the frame part and comprising a wheel, movable modules coupled to a second side of the frame part and configured to be movable in a vertical direction relative to the frame part, and a door module coupled to a first side of the movable modules, the door part being rotatable relative to the movable modules in a direction toward the internal space or a direction away from the internal space.

Abstract: An embodiment wheel includes a frame configured to rotate about an axial direction, an absorber coupled to a side of the frame in a radially outward direction, and a connector connecting the absorber and the frame, wherein a first portion of the connector is configured to be movable along the radially outward direction and a radially inward direction of the frame, and a second portion of the connector is configured to be rotatable on a plane that crosses the axial direction.

Abstract: A flexible wheel may include a flexible tire section which is deformable in a radial direction from a circumference thereof, and an anti-bending guide section coupled with the flexible tire section. The anti-bending guide section is connected to a driving shaft, and the flexible tire section and the anti-bending guide section are concentric. The flexible tire section includes a ring-shaped outer layer, one or more inner layers, and a plurality of spokes. In addition, the anti-bending guide section includes a plurality of plates, a hub, and a plurality of guides.

Abstract: An apparatus for connecting a wireless sensor may include a charging battery which is self-powered, a measurement sensor configured for performing wireless communication and receive power from the charging battery, and a vehicle controller configured to be connected to the measurement sensor through wireless communication and receive measured data.

Abstract: An apparatus for connecting a wireless sensor may include a charging battery which is self-powered, a measurement sensor configured for performing wireless communication and receive power from the charging battery, and a vehicle controller configured to be connected to the measurement sensor through wireless communication and receive measured data.

Abstract: An apparatus for connecting a wireless sensor may include a charging battery which is self-powered, a measurement sensor configured for performing wireless communication and receive power from the charging battery, and a vehicle controller configured to be connected to the measurement sensor through wireless communication and receive measured data.

Abstract: A flexible wheel may include a flexible tire section which is deformable in a radial direction from a circumference thereof, and an anti-bending guide section coupled with the flexible tire section. The anti-bending guide section is connected to a driving shaft, and the flexible tire section and the anti-bending guide section are concentric. The flexible tire section includes a ring-shaped outer layer, one or more inner layers, and a plurality of spokes. In addition, the anti-bending guide section includes a plurality of plates, a hub, and a plurality of guides.

Abstract: An apparatus for connecting a wireless sensor may include a charging battery which is self-powered, a measurement sensor configured for performing wireless communication and receive power from the charging battery, and a vehicle controller configured to be connected to the measurement sensor through wireless communication and receive measured data.

Abstract: A method for starting an engine may include determining whether an engine starting signal is applied, determining whether the engine is stopped by measuring a revolution per minute of a crankshaft through a crankshaft position detector when the engine starting signal is determined as being applied, and starting the engine when the engine is determined as being stopped.