RT info:eu-repo/semantics/doctoralThesis T1 Contributions to the mechatronics design engineering of zoomorphic mobile robots bio-inspired by arthropods and caterpillars T2 Contribuciones a la ingeniería de diseño mecatrónico de robots móviles zoomórficos bio-inspirados en artrópodos y orugas A1 Cornejo Aguilar, José Luis A2 Universidad de Burgos. Departamento de Digitalización A2 Universidad de Burgos. Departamento de Ingeniería Electromecánica K1 Biomimetic engineering K1 Bio-inspired robot K1 Mechatronics design K1 Biomechanics K1 Robot locomotion K1 Ingeniería biomimética K1 Robot bioinspirado K1 Diseño mecatrónico K1 Biomecánica K1 Locomoción robótica K1 Mecatrónica K1 Mechatronics K1 Robots K1 Bioingeniería K1 Bioengineering K1 3313.15 Diseño de Máquinas K1 2406.04 Biomecánica K1 1203.09 Diseño Con Ayuda del Ordenador K1 3311.14 Servomecanismos AB This thesis presents the engineering design of mechatronic systems, emphasizing on zoomorphic robots inspired by arthropods—organisms renowned for their biomechanical features. The research encompasses a comprehensive state-of-the-art, observational studies, and the development of novel computational methodologies. The objectives are threefold: (i) to conduct a systematic review of arthropod-inspired robots, classified taxonomically and categorized by morphology, degrees of freedom, actuation mechanisms, modularity, and environmental adaptability; (ii) to standardize the mechanical configuration of kinematic chains of caterpillars through a geometric algorithm derived from experimental observations; and (iii) to develop the kinematic and dynamic analyses to simulate the behavior of bioinspired robotic caterpillar during inching-locomotion, resulting in actuator selection. This work highlights “arthrobotics” as an interdisciplinary field integrating arthropod biomechanics with robotics, fostering innovative methodologies for biomechatronic design with applications spanning industrial assembly tasks and planetary exploration. YR 2024 FD 2024 LK http://hdl.handle.net/10259/10415 UL http://hdl.handle.net/10259/10415 LA eng DS Repositorio Institucional de la Universidad de Burgos RD 05-abr-2025