Aldebaran Robotics

Christian Cibert

A mechanism includes at least one module (M) having a tubular structure with at least three faces, each of said faces comprising: two parallel longitudinal fibers (), rigid and inextensible, whose ends are connected through respective ball or elastic joints (--) to the ends of the fibers of contiguous modules, or to a base (); a transverse link () connecting said two longitudinal fibers, having a first end rigidly connected to said first fiber and a second end slidably connected to said second fiber, said transverse link being inextensible and having two rotational degrees of freedom; a longitudinal link () connecting said transverse link to a homologous transverse link of an adjacent module or to a base via a ball or elastic joint (-) and an universal joint (-); and an actuator (A) for changing the length of said longitudinal link.

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Paris, France

Christian Cibert