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 27-abr-2025