A burlesque is a type of poem which literally mimics or imitates styles and subject of others and finally portraying the message in a humorous way away from the original meaning resulting in comedy, the name originated from Italian burla and later burlesco which simply means ridicule, the main intention of this is to make light of something that seemed or ought to be too serious.
The most popular extension of this form is probably the parody where mimicry is Majorly used to bring out a humorous message, other terms that have been used to describe the burlesque are gallow humor and black humor. This type of poem contains no specific rules about structure, it's basically a free form to write making it easier.
This type of poem is much more than just a mere comedy, it has been used for educative and activism purposes for thousands of years, this has been done to attract more attention to unresolved issues in our society, nowadays, this is being used for entertainment and criticizing social issues using humor.
[n] a composition that imitates somebody's style in a humorous way
[n] a theatrical entertainment of broad and earthy humor; consists of comic skits and short turns (and sometimes striptease)
[adj] relating to or characteristic of a burlesque; "burlesque theater"
[v] make a parody of; "The students spoofed the teachers"