What did Henry Fielding mean by calling Joseph Andrews a comic epic poem in prose?

In the preface to his 1742 novel Joseph Andrews, Henry Fielding defined the work as a "comic epic poem in prose" to distinguish his approach from the burlesque style he had previously employed in his drama and early parodies.12

Fielding used this term to emphasize that his goal was the imitation of human nature as observed in the ordinary scenes of civilized society, rather than the creation of the "monstrous" or "unnatural" absurdities found in burlesque. While burlesque centers on the surprising and often vulgar application of high manners to low subjects, Fielding’s "comic" mode focused on "the ridiculous"—a quality he believed was rooted in human affectation and hypocrisy.13

By labeling it an "epic poem in prose," Fielding signaled his intent to elevate the novel by incorporating devices from traditionally reputable literary modes, such as epic poetry, while maintaining a focus on the private affairs of mundane life. This allowed him to move beyond mere parody of Samuel Richardson’s Pamela and develop a work of sustained irony and social criticism.1243