2026-04-17T16:42:39Zhttps://riubu.ubu.es/oai/request

oai:riubu.ubu.es:10259/84112025-01-17T23:42:07Zcom_10259_7509com_10259_4266com_10259.4_106com_10259_2604com_10259_6155col_10259_7510col_10259_6156

00925njm 22002777a 4500 dc Cornejo, José author Sierra Garcia, Jesús Enrique author Gómez Gil, Francisco Javier author Grados, Juan author Palomares, Ricardo author Weitzenfeld, Alfredo author 2024-01 Inching-locomotion caterpillars (ILAR) show impressive environmental adaptation, having high dexterity and flexibility. To design robots that mimic these abilities, a novel Bioinspired Robotic Design (BIROD) method is presented. The method is composed by an algorithm for Geometrical Kinematic Analysis (GEKINS) to standardize the proportional dimensions according to the insect’s anatomy and obtain the kinematic chains. The approach is experimentally applied to analyze the locomotion and kinematic chain of these specimens: Geometridae – 2 pair of prolegs (represents 35,000 species) and Plusiinae – 3 pair of prolegs (represents 400 species). The obtained data indicate that the application of the proposed method permits to locate the attachment mechanisms, joints, links, and to calculate angular displacement, angular average velocity, number of degrees of freedom, and thus the kinematic chain. Geometridae in contrast to Plusiinae, shows a longer Walk-Stride Length (WSL), a lower number of single-rotational joints in 2-D (3 DOF versus 4 DOF), and a lower number of dual-rotational joints in 3-D (6 DOF versus 8 DOF). The application of BIROD and GEKINS provides the forward kinematics for 35,400 ILAR species and are expected to be useful as a preliminary phase for the design of bio-inspired arthropod robots. 1748-3182 http://hdl.handle.net/10259/8411 10.1088/1748-3190/ad1b2c 1748-3190 Biomimetic Bio-inspired robot Engineering design Robot kinematics Inching-locomotion caterpillar Arthropod animals Experimental study and geometrical method to design bio-inspired robotic kinematic chains of inching-locomotion caterpillars