2026-04-17T16:45:08Zhttps://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

Cornejo, José 7f8769a9-35c6-4478-8dd3-bb695fb089a7 Sierra Garcia, Jesús Enrique 737 600 0000-0001-6088-9954 Gómez Gil, Francisco Javier 240 600 0000-0003-0586-7271 Grados, Juan 10f0fc4d-2501-4702-a9f9-6d4a00e99932 Palomares, Ricardo 6efb1f43-a27f-4c0a-b5ee-ecd796d322aa Weitzenfeld, Alfredo 16e96c22-3be2-4508-a84e-3eef2e9c1aba 600 2024-01-19T17:01:29Z 2024-01-19T17:01:29Z 2024-01 1748-3182 http://hdl.handle.net/10259/8411 10.1088/1748-3190/ad1b2c 1748-3190 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. application/pdf eng IOP Publishing Bioinspiration & Biomimetics. 2024, V. 19, n. 2, 026001 https://doi.org/10.1088/1748-3190/ad1b2c Attribution-NonCommercial-NoDerivatives 4.0 Internacional http://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess Biomimetic Bio-inspired robot Engineering design Robot kinematics Inching-locomotion caterpillar Arthropod animals Electrotecnia Ingeniería mecánica Electrical engineering Mechanical engineering Experimental study and geometrical method to design bio-inspired robotic kinematic chains of inching-locomotion caterpillars info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Bioinspiration & Biomimetics 19 2 026001 THUMBNAIL Cornejo-bb_2024.pdf.jpg Cornejo-bb_2024.pdf.jpg IM Thumbnail image/jpeg 4541 https://riubu.ubu.es/bitstream/10259/8411/5/Cornejo-bb_2024.pdf.jpg 432a0e544b2889a2bf5eee6818951251 MD5 5 ORIGINAL Cornejo-bb_2024.pdf Cornejo-bb_2024.pdf application/pdf 4921220 https://riubu.ubu.es/bitstream/10259/8411/4/Cornejo-bb_2024.pdf 707272b591ce7cd6fc1d7e0f05f0a8c8 MD5 4 LICENSE license.txt license.txt text/plain; charset=utf-8 1362 https://riubu.ubu.es/bitstream/10259/8411/3/license.txt 5d013bfa6e473ff0db22cd82a4d71a70 MD5 3 CC-LICENSE license_rdf license_rdf application/rdf+xml; charset=utf-8 805 https://riubu.ubu.es/bitstream/10259/8411/2/license_rdf 4460e5956bc1d1639be9ae6146a50347 MD5 2 10259/8411 oai:riubu.ubu.es:10259/8411 2025-01-18 00:42:07.681 Repositorio Institucional de la Universidad de Burgos bubrep@ubu.es RWwgYXV0b3IgY29tbyDDum5pY28gdGl0dWxhciBkZSBsb3MgZGVyZWNob3MgZGUgcHJvcGllZGFkIGludGVsZWN0dWFsIGRlIGxhIG9icmEsIG8gZGlzcG9uaWVuZG8gZGUgbG9zIGRlYmlkb3MgcGVybWlzb3MgZGUgbG9zIG90cm9zIHRpdHVsYXJlcywgc2kgbG9zIGh1YmllcmEsIHkgZW4gdmlydHVkIGRlIGxvcyBkZXJlY2hvcyBxdWUgbGUgY29uZmllcmUgbGEgbGVnaXNsYWNpw7NuIHZpZ2VudGUgc29icmUgcHJvcGllZGFkIGludGVsZWN0dWFsIHkgZGVyZWNob3MgZGUgYXV0b3IsIApBVVRPUklaQSBhIGxhIFVuaXZlcnNpZGFkIGRlIEJ1cmdvcyBhIGRpZnVuZGlyLCBkZSBtYW5lcmEgZ3JhdHVpdGEsIGVsIGNvbnRlbmlkbyBkZSBsb3MgYXJjaGl2b3MgZGlnaXRhbGVzIHF1ZSBjb3JyZXNwb25kZW4gYWwgZG9jdW1lbnRvIGRlc2NyaXRvIGFudGVyaW9ybWVudGUsIGNvbiBjYXLDoWN0ZXIgbm8gZXhjbHVzaXZvIHkgZGUgbWFuZXJhIHDDumJsaWNhIGVuIGFjY2VzbyBhYmllcnRvIGEgdHJhdsOpcyBkZSBJbnRlcm5ldCwgcGFyYSBsbyBxdWUgbGEgQmlibGlvdGVjYSBwcm9jZWRlcsOhIGEgYXJjaGl2YXJsb3MgZW4gZWwgUmVwb3NpdG9yaW8gSW5zdGl0dWNpb25hbC4gQXNpbWlzbW8gYXV0b3JpemEgYSBsYSBVbml2ZXJzaWRhZCBkZSBCdXJnb3MgYSByZWFsaXphciBsYXMgdHJhbnNmb3JtYWNpb25lcyBuZWNlc2FyaWFzIGRlIGZvcm1hdG8sIG5vIGRlIGNvbnRlbmlkbywgcGFyYSBnYXJhbnRpemFyIGxhIHByZXNlcnZhY2nDs24geSBlbCBhY2Nlc28gZW4gZWwgZnV0dXJvLgoKRWwgYXV0b3IgZGlzcG9uZSwgZW4gdG9kbyBjYXNvLCBkZWwgZGVyZWNobyBhIHJldm9jYXIgZXN0YSBhdXRvcml6YWNpw7NuLgoKTGEgY2VzacOzbiBkZSBkZXJlY2hvcyBkZSBlc3RhIG9icmEgc2UgZW5jdWVudHJhIHN1amV0YSBhIGxhIGxlZ2lzbGFjacOzbiB2aWdlbnRlIHNvYnJlIHByb3BpZWRhZCBpbnRlbGVjdHVhbCB5IGRlcmVjaG9zIGRlIGF1dG9yLiBTdSBkaWZ1c2nDs24gZW4gZWwgUmVwb3NpdG9yaW8gc2Vyw6EgYmFqbyBsYSBtb2RhbGlkYWQgZGUgbGljZW5jaWEgQ3JlYXRpdmUgQ29tbW9ucyBvIGVxdWl2YWxlbnRlOiByZWNvbm9jaW1pZW50byDigJMgdXNvIG5vIGNvbWVyY2lhbCDigJMgc2luIG9icmEgZGVyaXZhZGEsIHBvciBsYSBxdWUgc2UgcGVybWl0ZSBoYWNlciBjb3BpYSwgZGlzdHJpYnVpciB5IGNvbXVuaWNhciBww7pibGljYW1lbnRlIGxhIG9icmEgc2llbXByZSBxdWUgc2UgY2l0ZSBhbCBhdXRvciwgZWwgdXNvIHF1ZSBzZSBoYWdhIGRlIGVsbGEgc2VhIG5vIGNvbWVyY2lhbCB5IG5vIHNlIGNyZWVuIG9icmFzIGRlcml2YWRhcyBhIHBhcnRpciBkZSBsYSBvcmlnaW5hbC4K