Ahn, Sang Chul KIM JIN HAK LIM KIWOONG Ko, Heedong Kwon, Yong-Moo KIM, Hyoung Gon 2024-01-13T09:00:33Z 2024-01-13T09:00:33Z 2021-09-29 2005-04 https://pubs.kist.re.kr/handle/201004/104856 English Robot Middleware UPnP CORBA TAO UPnP Approach for Robot Middleware Conference 1 ICRA2005 ICRA2005 SP