이종원 홍예선 2024-01-12T16:01:18Z 2024-01-12T16:01:18Z 1998-06-02 https://pubs.kist.re.kr/handle/201004/90804 Foot System for jointed Leg Type WalkingRobot Patent 1998-06-02 1996-01-19 5,758,734 08/587,742 US 특허 한국과학기술연구원