Patent Description:
A display provided in a head part of a robot apparatus may be configured such that its display surface faces toward an upper direction while being mounted on a main body of the robot apparatus for performing a role of a guide or a kiosk at ordinary times, and configured such that its display surface faces toward a front direction by rotating in a direction of moving away from the head part of the robot apparatus for an interaction with a user.

In a state in which the display is rotated in a direction of moving away from the head part, when the robot apparatus is being driven, there is a problem that the display is shaken due to a vibration transmitted from the ground or a user's touch operation. Documents <CIT>, <CIT>, <CIT>, <CIT> disclose examples of robotic apparatus with movable displays.

Example embodiments of the disclosure provide a robot apparatus that has an improved structure such that a display rotatable with respect to a main body is supported stably by a stopper structure, and a controlling method thereof.

According to an aspect of an example embodiment, there is provided a robot apparatus including: a main body; a display; a neck structure rotatably connected to the main body, and of which an end portion is connected to a rear surface of the display; a first driving device configured to rotate the neck structure around a first axis of the robot apparatus such that the display is positioned in a first location, in which a display surface of the display faces toward an upper direction, or a second location, in which the display surface faces toward a front direction; a stopper structure provided on the main body to be adjacent to the neck structure; and a second driving device configured to move the stopper structure toward the front direction or a rear direction such that the stopper structure is positioned in a supporting location in which the stopper structure contacts a rear surface of the neck structure, or a separated location, in which the stopper structure is spaced apart from the neck structure.

The first driving device may include: a shaft member rotatably connected to the main body, and provided along the first axis; a first motor configured to rotate the shaft member; and a rotation link connecting the neck structure and the shaft member.

The shaft member may be provided below the display.

The first driving device may further include: a first assistant link of which a first end portion is connected to the first motor; a second assistant link of which a first end portion is connected to a second end portion of the first assistant link; and a third assistant link of which a first end portion is connected to a second end portion of the second assistant link, of which a second end portion is connected to the shaft member, the third assistant link having a length longer than the first assistant link.

The stopper structure may be provided at a same height as the shaft member.

The second driving device may include a guide member, which contacts the stopper structure and configured to guide a moving path of the stopper structure.

The second driving device may include: a cam member of which a cross section has an ellipse shape, and which contacts the stopper structure; a second motor configured to rotate the cam member; a support which is fixed on the main body; and a pressure member of which a front end portion is connected to the stopper structure, and of which a rear end portion is connected to the support, the pressure member being configured to pressurize the stopper structure to the front direction.

The second motor may be configured to rotate the cam member in a first direction by <NUM> degrees, or rotate the cam member in a second direction opposite to the first direction by <NUM> degrees.

A radius of curvature of the rear surface of the neck structure may be identical to a radius of curvature of a front surface of the stopper structure.

An upper surface of the main body may extend from an upper end of a front surface of the main body toward the rear direction, and the display in the first location may be on the upper surface of the main body.

The main body may include a slot formed on the upper surface of the main body, and the neck structure may be withdrawn to an outside of the main body, or is inserted to an inside of the main body through the slot.

The robot apparatus may further include a processor configured to: based on a predetermined event occurring, control the second driving device such that the stopper structure moves to the separated location, and based on the stopper structure moving to the separated location, control the first driving device such that the neck structure rotates to a location corresponding to the predetermined event and stops after rotation, and based on the neck structure stopping, control the second driving device such that the stopper structure moves to the supporting location.

The robot apparatus may further include a third driving device configured to rotate the display around a second axis of the robot apparatus, and is supported by the rear surface of the display.

The robot apparatus may further include a traveling device configured to move the main body.

According to an aspect of an example embodiment, there is provided a method of controlling a robot apparatus including a main body, a display, a neck structure which connects the main body and the display, and a stopper structure provided adjacent to the neck structure, the method including: receiving a rotation signal; moving the stopper structure to a separated location in which the stopper structure is spaced apart from the neck structure; rotating the neck structure to a location corresponding to the rotation signal and stopping the neck structure after rotation; and moving the stopper structure to a supporting location in which the stopper structure contacts with the rear surface of the neck structure.

The above and other aspects, features, and advantages of certain example embodiments of the disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which:.

The embodiments that will be described below are exemplary embodiments for promoting understanding of the disclosure, and it should be understood that the disclosure may be implemented while being modified in various forms, unlike the embodiments described herein. In explaining the disclosure below, in case it is determined that detailed explanation of related known functions or components may unnecessarily confuse the gist of the disclosure, the detailed explanation and detailed illustration thereof will be omitted. Also, in the accompanying drawings, some components may not be illustrated in their actual scales, but may be illustrated in more enlarged sizes than their actual sizes, for promoting understanding of the disclosure.

Also, as terms used in this specification and the claims, general terms were selected in consideration of the functions described in the disclosure. However, the terms may vary depending on the intention of those skilled in the art who work in the pertinent field or legal or technical interpretation, or emergence of new technologies, etc. Also, there are some terms that were designated by the applicant on his own, and in such cases, the meaning of the terms may be interpreted as what is defined in this specification. If there is no specific definition of the terms, the meaning of the terms may be interpreted based on the overall content of this specification and technical knowledge common in the pertinent technical field.

In addition, in this specification, expressions such as "have," "may have," "include," and "may include" denote the existence of such characteristics (e.g.: elements such as numerical values, functions, operations, and components), and do not exclude the existence of additional characteristics.

Also, in this specification, elements necessary for explanation of each embodiment of the disclosure are described, and thus elements are not necessarily limited thereto. Accordingly, some elements may be changed or omitted, or other elements may be added. Also, elements may be disposed to be dispersed in apparatuses independent from one another.

Further, while the embodiments of the disclosure will be described in detail with reference to the following accompanying drawings and the contents described in the accompanying drawings, it is not intended that the disclosure is restricted or limited by the embodiments.

Hereinafter, the disclosure will be described in more detail with reference to the accompanying drawings.

<FIG> and <FIG> are perspective views of a robot apparatus according to an embodiment of the disclosure. <FIG> is a perspective view illustrating a state wherein a display member (or a display) is supported by a neck structure (or neck structure) in a robot apparatus according to an embodiment of the disclosure. <FIG> is a perspective view illustrating a state wherein a cover has been removed from the main body in <FIG> according to an embodiment of the disclosure.

Referring to <FIG>, a robot apparatus <NUM> according to an embodiment of the disclosure may include a main body <NUM>, a display member <NUM>, a neck structure (or neck structure) <NUM>, a first driving device <NUM>, a stopper structure <NUM>, and a second driving device <NUM>.

The main body <NUM> may include a driving part <NUM>, a body part <NUM>, and a head part <NUM> that are stacked in order from the lower side to the upper side. On the lower side of the driving part <NUM>, one or more wheels may be provided. In the driving part <NUM>, a traveling device <NUM> (refer to <FIG>) that moves the main body <NUM> may also be accommodated. Also, in the driving part <NUM>, one or more sensors (e.g., an optical sensor, an acceleration sensor, etc.) that are used for driving of the main body <NUM> may be accommodated.

The body part <NUM> may have thinner thickness than the driving part <NUM>, and may be extended from the driving part <NUM> toward a rear direction (e.g., -X axis direction in <FIG>) while being tilted by a predetermined angle. On a front surface (e.g., a surface in a direction of X axis in <FIG>) of the body part <NUM>, a display capable of providing information may be provided.

The head part <NUM> may be extended from an upper end of the body part <NUM> toward the rear direction while being tilted by a predetermined angle. That is, an upper surface <NUM> of the main body <NUM> may be formed to extend from an upper end <NUM> of the front surface <NUM> of the main body <NUM> toward the rear direction. The display member <NUM> may be mounted on the upper surface <NUM> of the main body <NUM> in a first location. The head part <NUM> may have a size corresponding to the display member <NUM>.

The display member <NUM> may be disposed in the first location wherein the display surface <NUM> faces toward an upper direction (e.g., Z axis direction in <FIG>) or in a second location wherein the display surface <NUM> faces toward the front direction (e.g., X axis direction in <FIG>). That is, the display member <NUM> may be disposed in the first location as shown in <FIG>, and may be disposed in the second location as shown in <FIG>.

When the display member <NUM> is disposed in the second location, the display member <NUM> may be disposed side by side with the front surface <NUM> of the main body <NUM>. That is, the display member <NUM> disposed in the second location may be disposed to be tilted toward the rear direction by a predetermined angle based on a vertical line.

The display member <NUM> may include a touch sensor and perform a role of a touch screen. Thus, a user may transmit a signal to the robot apparatus <NUM> by touching the display member <NUM>.

The display member <NUM> disposed in the first location may function as a kiosk. The display member <NUM> disposed in the second location may interact with a user, e.g., by providing an image expressing an emotion or a friendly facial expression. Also, the display member <NUM> may perform a motion of nodding or tilting for expressing an emotion.

The neck structure <NUM> may be connected rotatably to the main body <NUM>, and an end portion <NUM> of the neck structure <NUM> may be connected to a rear surface <NUM> of the display member <NUM>. The neck structure <NUM> may rotate around a horizontal rotation axis A1 of the main body <NUM>. The horizontal rotation axis A1 may be horizontal to the ground, and may be disposed along a Y axis direction in <FIG>. Accordingly, the display member <NUM> may move to the first location or the second location.

The main body <NUM> may include a slot <NUM> formed on the upper surface <NUM> of the main body <NUM>. The neck structure <NUM> may be withdrawn to the outside of the main body <NUM> or may be inserted to the inside of the main body <NUM> through the slot <NUM>. That is, when the display member <NUM> is disposed in the first location, the neck structure <NUM> may be inserted to the inside of the main body <NUM>, and when the display member <NUM> is disposed in the second location, the neck structure <NUM> may be withdrawn to the outside of the main body <NUM>.

The first driving device <NUM> may rotate the neck structure <NUM> around the horizontal rotation axis A1, such that the display member <NUM> is disposed in the first location or the second location.

The stopper structure <NUM> may be disposed in a supporting location that contacts a rear surface <NUM> of the neck structure <NUM> or in a separated location that is spaced apart from the neck structure <NUM>. The second driving device <NUM> may move the stopper structure <NUM> to the front direction (e.g., X axis in <FIG>) or the rear direction (e.g., -X axis in <FIG>), such that the stopper structure <NUM> is disposed in the supporting location or the separated location.

When the stopper structure <NUM> is in the supporting location, the neck structure <NUM> is not pushed to the rear direction, but is supported stably by the frictional force provided by the stopper structure <NUM>. Thus, the display member <NUM> may not be shaken by vibration that may occur while driving of the robot apparatus <NUM>, e.g., vibration transmitted from the ground or vibration according to a user's touch operation.

Also, when the stopper structure <NUM> is disposed in the separated location, the neck structure <NUM> may rotate freely in a state of being spaced apart from the stopper structure <NUM>. That is, when the display member <NUM> moves to the first location or the second location, the stopper structure <NUM> moves to the separated location, and thus the display member <NUM> and the neck structure <NUM> may rotate easily without being interrupted by the stopper structure <NUM>.

<FIG> is a perspective view illustrating a configuration of a first driving device in a robot apparatus according to an embodiment of the disclosure.

Referring to <FIG>, the first driving device <NUM> may include a shaft member <NUM>, a first motor <NUM>, a rotation link <NUM>, a first assistant link <NUM>, a second assistant link <NUM>, and a third assistant link <NUM>.

The shaft member <NUM> may be connected rotatably to the main body <NUM>. Both ends of the shaft member <NUM> may be supported rotatably by two vertical ends 100a, 100b of the main body <NUM>. The shaft member <NUM> may be disposed along the horizontal rotation axis A1. That is, the shaft member <NUM> may define the horizontal rotation axis A1.

The shaft member <NUM> may be disposed in a lower location than the display member <NUM>. Accordingly, the display member <NUM> may rotate to the first location or the second location without interfering with the main body <NUM>.

The first motor <NUM> may rotate the shaft member <NUM>. The rotation link <NUM> may include a rotation link <NUM> connecting the neck structure <NUM> and the shaft member <NUM>. That is, the shaft member <NUM>, the rotation link <NUM>, the neck structure <NUM>, and the display member <NUM> may rotate integrally at the same angular velocity.

One end <NUM> of the first assistant link <NUM> may be connected to the first motor <NUM>. One end <NUM> of the second assistant link <NUM> may be connected to the other end <NUM> of the first assistant link <NUM>. One end <NUM> of the third assistant link <NUM> may be connected to the other end <NUM> of the second assistant link <NUM>, and the other end <NUM> may be connected to the shaft member <NUM>.

That is, three assistant links connected in series may connect the first motor <NUM> and the shaft member <NUM>.

The third assistant link <NUM>, the shaft member <NUM>, the rotation link <NUM>, and the neck structure <NUM> may be connected integrally, and all of them may rotate around the horizontal rotation axis A1 at the same angular velocity.

The third assistant link <NUM> may have longer length than the first assistant link <NUM>. Accordingly, the third assistant link <NUM> may rotate at slower angular velocity than the first assistant link <NUM>, and thus the torque generated from the first motor <NUM> may be amplified and transmitted to the third assistant link <NUM>. The display member <NUM> and the neck structure <NUM> may rotate effectively through the first motor <NUM> having a small capacity.

<FIG> is an exploded perspective view illustrating a configuration of a second driving device in a robot apparatus according to an embodiment of the disclosure.

Referring to <FIG>, the stopper structure <NUM> may include a guide rod <NUM>, a braking part <NUM>, and a moving part <NUM>. The second driving device <NUM> may include a guide member <NUM>, a cam member <NUM>, a second motor <NUM>, a support <NUM>, and a pressure member <NUM>.

The guide rod <NUM> may be inserted into a first hole <NUM> of the support <NUM> that will be described below, and may be disposed coaxially with the pressure member <NUM>. The pressure member <NUM> has a bigger diameter than the first hole <NUM>, and thus it may be supported by the front surface of the support <NUM>.

The guide rod <NUM> may be disposed side by side with the guide member <NUM>, and may be disposed to be enclosed by the pressure member <NUM>. The pressure member <NUM> may not be detached from a designated location by the guide rod <NUM>.

The braking part <NUM> may be disposed in the front end part of the stopper structure <NUM>, and may be disposed to face the neck structure <NUM>. The braking part <NUM> may be an area that selectively contacts the neck structure <NUM>.

The moving part <NUM> may be disposed in the rear end part of the stopper structure <NUM>, and may have smaller width length than the braking part <NUM>. The moving part <NUM> may be an area that contacts the second motor <NUM> and receives the moving force to the rear direction from the second motor <NUM>. The moving part <NUM> may move to the front direction or the rear direction in a state of penetrating through a second hole <NUM> of the support <NUM>.

The guide member <NUM> may contact the stopper structure <NUM> and guide a moving path of the stopper structure <NUM>. The guide member <NUM> may be fixedly disposed on a horizontal plate 100c of the main body <NUM>.

The guide member <NUM> may be engaged with a slider disposed on a lower end of the stopper structure <NUM> and support the stopper structure <NUM> toward an upper side of the stopper structure <NUM>, and guide the stopper structure <NUM> such that the stopper structure <NUM> moves to the front direction or the rear direction along the guide member <NUM>.

The cross section of the cam member <NUM> may have an ellipse shape, and the cam member <NUM> may contact the stopper structure <NUM>. The second motor <NUM> may rotate the cam member <NUM>.

That is, the lengths of the long axis and the short axis of the cam member <NUM> may be different from each other. Accordingly, when the cam member <NUM> rotates in a first direction R1 (refer to <FIG>) by <NUM> degrees, the rear end of the moving part <NUM> that contacts the cam member <NUM> may be pushed to the rear direction.

The rear end of the moving part <NUM> may include a projection <NUM> that is projectingly formed toward the second motor <NUM>. The projection <NUM> of the moving part <NUM> may have a conical shape, and the projection <NUM> may always circumscribe around the cam member <NUM>.

If the cam member <NUM> pushes the stopper structure <NUM> to the rear direction as it rotates, the pressure member <NUM> may be compressed by the support <NUM>. Afterwards, when the cam member <NUM> rotates in a second direction R2 (refer to <FIG>) opposite to the first direction R1 by <NUM> degrees, the pressure member <NUM> that was compressed may push the stopper structure <NUM> to the front direction. Accordingly, the stopper structure <NUM> may move from the separated location to the supporting location.

The support <NUM> may be fixedly disposed on the main body <NUM>. The support <NUM> may be fixed on the horizontal plate 100c of the main body <NUM>. The front surface of the support <NUM> may be disposed to face the braking part <NUM> on the front end of the stopper structure <NUM>.

The front end <NUM> of the pressure member <NUM> may be connected to the stopper structure <NUM>, and its rear end <NUM> may be connected to the support <NUM>, and the pressure member <NUM> may pressurize the stopper structure <NUM> to the front direction. Specifically, the pressure member <NUM> is a compression spring, and its front end <NUM> may be connected to the rear surface of the braking part <NUM>, and its rear end <NUM> may be connected to the front surface of the support <NUM>.

<FIG> is a block diagram schematically illustrating a controlling process of a robot apparatus according to an embodiment of the disclosure.

Referring to <FIG>, a robot apparatus <NUM> may include a first driving device <NUM>, a second driving device <NUM>, a processor <NUM>, a third driving device <NUM>, and a traveling device <NUM>. The traveling device <NUM> may include a known traveling mechanism (e.g., a motor or a wheel) to move the main body <NUM>.

The processor <NUM> may control the overall operations of the robot apparatus <NUM>. For this, the processor <NUM> may include one or more of a central processing unit (CPU), an application processor (AP), or a communication processor (CP). Also, the processor <NUM> may be a micro control unit (MCU).

The processor <NUM> may control hardware and/or software components connected to the processor <NUM> by driving an operation system or an application program, and perform various kinds of data processing and operations. Also, the processor <NUM> may load an instruction or data received from at least one of other components on a volatile memory and process them, and store various data in a non-volatile memory.

When a predetermined event occurs, the processor <NUM> may control the second driving device <NUM> such that the stopper structure <NUM> moves to the separated location.

The predetermined event may be a situation wherein a user transmits a rotation signal of the display member <NUM> to the processor <NUM> through an input device. Alternatively, the predetermined event may be a situation wherein a specific condition (e.g., a specific time, weather, etc.) for the display member <NUM> to rotate is satisfied without a separate input.

The input device may include, for example, a touch panel, a (digital) pen sensor, a key, or an ultrasonic input device. The touch panel, the pen sensor, and the key may be provided in the display member <NUM>.

The touch panel may use, for example, at least one method among a capacitive method, a decompressive method, an infrared method, or an ultrasonic method. Also, the touch panel may further include a control circuit. The touch panel may further include a tactile layer, and provide a tactile response to a user. The (digital) pen sensor may be, for example, a part of the touch panel, or include a separate sheet for recognition. The key may include, for example, a physical button, an optical key, or a keypad. The ultrasonic input device may, for example, detect an ultrasonic wave generated at an input tool through a microphone, and identify data corresponding to the detected ultrasonic wave.

Also, the input device may be a terminal device such as a remote control, a smart watch, a smart band, a wireless headset, a mobile phone, a smartphone, a tablet, etc..

When the stopper structure <NUM> moves to the separated location, the processor <NUM> may control the first driving device <NUM> such that the neck structure <NUM> rotates to a location corresponding to the predetermined event and then stops.

When the neck structure <NUM> stops, the processor <NUM> may control the second driving device <NUM> such that the stopper structure <NUM> moves to the supporting location.

<FIG> is a side view illustrating a state wherein a display member is disposed in a first location, and a stopper structure is disposed in a supporting location in a robot apparatus according to an embodiment of the disclosure.

Referring to <FIG>, the radius of curvature R of the rear surface <NUM> of the neck structure <NUM> may be identical to the radius of curvature R of the front surface <NUM> of the stopper structure <NUM>. Accordingly, the rear surface <NUM> of the neck structure <NUM> and the front surface <NUM> of the stopper structure <NUM> come to contact in the largest area possible. Thus, the frictional force between the neck structure <NUM> and the stopper structure <NUM> are increased, and the neck structure <NUM> may be supported by the stopper structure <NUM> more stably.

The stopper structure <NUM> may be disposed at the same height as the shaft member <NUM>. That is, the stopper structure <NUM> may support the neck structure <NUM> at the same height as the shaft member <NUM> defining the center of rotation of the neck structure <NUM>. Accordingly, the pressurizing force of the stopper structure <NUM> to the front direction may be transmitted to the neck structure <NUM> with the smallest loss possible.

In the state of <FIG>, the stopper structure <NUM> is pressurized to the front direction by the pressure member <NUM>, and the neck structure <NUM> is also pressurized to the front direction by the stopper structure <NUM>, and thus the first and second driving devices <NUM>, <NUM> may not consume standby currents.

<FIG> is a side view illustrating a state wherein the stopper structure in <FIG> is moved backward from the supporting location to the separated location according to an embodiment of the disclosure.

Referring to <FIG>, the second driving device <NUM> may move the stopper structure <NUM> from the supporting location to the separated location. That is, if the second motor <NUM> rotates the cam member <NUM> in an ellipse shape in the first direction R1 by <NUM> degrees, the stopper structure <NUM> contacting the cam member <NUM> may be pushed to the rear direction. Here, the pressure member <NUM> may be compressed.

In the state of <FIG>, the second driving device <NUM> may use a current only when rotating the cam member <NUM> in the first direction R1 by <NUM> degrees.

<FIG> is a side view illustrating a state wherein the display member in <FIG> is rotated from a first location to a second location according to an embodiment of the disclosure.

Referring to <FIG>, the first driving device <NUM> may be controlled such that, when the stopper structure <NUM> moves to the separated location, the neck structure <NUM> moves to a location corresponding to the predetermined event and then stops. That is, the neck structure <NUM> may rotate easily without contacting the stopper structure <NUM> disposed in the separated location.

In the state of <FIG>, the second driving device <NUM> may not use a current, but only the first driving device <NUM> may use a current for the rotation of the display member <NUM>.

<FIG> is a side view illustrating a state wherein the stopper structure in <FIG> is moved forward from a separated location to a supporting location according to an embodiment of the disclosure.

Referring to <FIG>, when the neck structure <NUM> stops, the second driving device <NUM> may move the stopper structure <NUM> from the separated location to the supporting location. That is, if the cam member <NUM> rotates in the second direction R2 opposite to the first direction R1 by <NUM> degrees by the second motor <NUM>, the pressure member <NUM> that was compressed may push the stopper structure <NUM> to the front direction. Accordingly, the stopper structure <NUM> may move from the separated location to the supporting location.

Afterwards, the stopper structure <NUM> is pressurized to the front direction by the pressure member <NUM>, and the neck structure <NUM> is also pressurized to the front direction by the stopper structure <NUM>, and thus the first and second driving devices <NUM>, <NUM> may not consume standby currents.

That is, referring to <FIG>, use of currents by the first and second driving devices <NUM>, <NUM> may be minimized by the ellipse shape of the cam member <NUM> and the elastic force of the pressure member <NUM>.

<FIG> is a side view illustrating a state wherein a third driving device is supported on a rear surface of a display member in a robot apparatus according to an embodiment of the disclosure.

Referring to <FIG>, the robot apparatus <NUM> may further include a third driving device <NUM> which rotates the display member <NUM> around an additional rotation axis A2, and is supported by the rear surface <NUM> of the display member <NUM>. For example, the third driving device <NUM> may include a motor capable of rotating the display member <NUM>.

The additional rotation axis A2 may be horizontal along the front and rear directions (that is, X axis direction in <FIG>). The display member <NUM> may roll while rotating around the additional rotation axis A2. Accordingly, the display member <NUM> may perform various interaction functions with a user.

Also, even if the third driving device <NUM> is supported by the rear surface <NUM> of the display member <NUM> and its center of gravity rises, the neck structure <NUM> is supported stably by the stopper structure <NUM>. Thus, the display member <NUM> may not be shaken by vibration that may occur while driving of the robot apparatus <NUM>, e.g., vibration transmitted from the ground or vibration according to a user's touch operation.

<FIG> is a flow chart for illustrating a controlling method of a robot apparatus according to an embodiment of the disclosure.

Referring to <FIG>, a controlling method of the robot apparatus <NUM> according to an embodiment of the disclosure may include operations of receiving a rotation signal (S10), the stopper structure <NUM> moving to a separated location wherein the stopper structure <NUM> is spaced apart from the neck structure <NUM> (S20), the neck structure <NUM> rotating to a location corresponding to the rotation signal and then stopping (S30), and the stopper structure <NUM> moving to a supporting location contacting the rear surface <NUM> of the neck structure <NUM> (S40).

Accordingly, when the stopper structure <NUM> is in the supporting location, the neck structure <NUM> is not pushed to the rear direction, but is supported stably by the frictional force provided by the stopper structure <NUM>. Thus, the display member <NUM> may not be shaken by vibration, e.g., transmitted from the ground or vibration according to a user's touch operation while driving of the robot apparatus <NUM>.

Claim 1:
A robot apparatus (<NUM>) comprising:
a main body (<NUM>);
a display (<NUM>);
a neck structure (<NUM>) rotatably connected to the main body, and of which an end portion (<NUM>) is connected to a rear surface (<NUM>) of the display;
a first driving device (<NUM>) configured to rotate the neck structure around a first axis (A1) of the robot apparatus such that the display is positioned in a first location, in which a display surface (<NUM>) of the display faces toward an upper direction, or a second location, in which the display surface faces toward a front direction;
a stopper structure (<NUM>) provided on the main body to be adjacent to the neck structure; and
a second driving device (<NUM>) configured to move the stopper (<NUM>) structure toward the front direction or a rear direction such that the stopper structure is positioned in a supporting location in which the stopper structure contacts a rear surface (<NUM>) of the neck structure, or a separated location, in which the stopper structure is spaced apart from the neck structure.