IRJET - An IoT based Human Detection Quadruped Bot for Rescue

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 04 | Apr 2020 www.irjet.net p-ISSN: 2395-0072
© 2020, IRJET | Impact Factor value: 7.34 | ISO 9001:2008 Certified Journal | Page 1947
An IoT based Human Detection Quadruped Bot for Rescue
Mohit S. Mhaske1, Shivam S. Raut2, Harshali Chavan 3
1-3Dept. of Computer Engineering, Pillai’s HOC College of Engineering & Technology, Rasayni, Maharashtra, India
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Abstract - Natural calamities are the one which we can’t
stop. As we know the global warming increasing day by day
by which the rate of natural calamities is also increased.
These natural disasters led to a large number of deaths
either because of people gets stuck in the remains or they
didn’t receive help on time. The biggest challenge faced by
the rescue and search teams is to search survivors and
victims in the remains. This robot presents the real- time
quadruped robot technology that is capable of detecting
humans after a natural or manmade disaster. The robot will
assist in rescue process by crawling in a designated area
and analyzing it. As the robot is small in size and also
equipped with a camera module, monitoring system, and
sensors to identify the existence of human buried under the
ruins. Due to its legged mechanism, it can crawl easily on
terrain, rough surfaces. The robot sends the data for further
investigation. It is a system we believe is a need of the time
and will assist the rescue team so that the number of
humans gets rescued. Quadruped robot will serve as a
significant requirement in Disasters.
Key Words: calamity; crawler; disaster; quadruped;
rescue; survivors; victims.
1. INTRODUCTION
Rescue search is the search for people who are in distress
or in danger. Generally, the search and rescue takes place
on rough or uneven surfaces. Which include mountain
hilly areas and rocky surfaces.
A search and rescue operation is normally conducted on
areas affected by natural disasters like earthquakes, flood
etc. There are situations where a rescue team can lose the
sight of a person stuck in certain rumble creating by the
disasters which is why we came up with a designed of a
robot which will be a help the team in such situations.
We have designed a quadruped bot for detecting people in
such situations. This robot is less bulky and also provides
stability with a four legged mechanism. A bot with more
legs is more stables but makes it bulkier and increasing its
cost drastically. We have made this robot both cost
efficient stable while manoeuvring through rough terrain.
The Quadruped bot requires a Wi-Fi connection to connect
to the software to be able to work. It is embedded with a
camera that helps in live stream making it easier to detect
a person stuck under debris of natural disaster affected
area like earthquakes. Due to its small size it will be able to
crawl inside the voids to provide much more help for
ground rescue force that drones or wheeled bots are not
able to achieve.
2. RELATED WORKS
This robot is disserved into two parts for an approach of
understanding – The Locomotion and Main Body.
A. Locomotion
The Movement of the robot is developed from mechanics of
the following paper. The physics behind the balancing of
the robot and its ability to maintain its body weight to
move without losing its movement control is understood.
The movement is designed by taking feedback from the
following papers.
1. HEXAPOD was a bot designed by Min-Chan
Hang*, Chiou-Jye Huang, Feifei Liu [1]. These
bots were designed for carrying heavy weights.
Since they carried heavy weights they were
much bulkier in size.
Optimal Design of Quadruped Walking Robot’s Leg was a
Mechanism developed by Jongrib Ha, Jaegwang Lee, Yeoh
Chin Ean1, Sangryong1 Lee and Hak Yi [3]. Here a
stabilized design was developed for the bot to able to
withstand its own weight
B. Main Body
The Main Body is designed so we are able to see a live
stream as where the robot is heading towards. This is
required for easily able to identify any barriers that come
in the way while driving (controlling) the robot from afar.
The Purpose for the robot is to crawl inside small gaps
created from natural disaster to find and locate people
stuck inside the debris. The following papers have helped
us with the feedback for the main body design.
1. Camera surveillance car was a bot designed by
Harshitha R, Muhammad Hameem Safwat Hussain [2]. A
Surveillance car designed with wheeled mechanism to
able to detect people and provides faster movement in the
smooth terrains.
3. SYSTEM OVERVIEW
This diagram represents the overview of the system
proposed in this paper.

Fig -1: Block diagram of Quadruped Bot
4. METHODOLOGY
This robot presents the real-time quadruped robot
technology that is capable of detecting humans after a
natural or manmade disaster. The robot will assist in
rescue process by crawling in a designated area and
analyzing it. As the robot is small in size and also equipped
with a camera module, monitoring system, and sensors to
identify the existence of human buried under the ruins.
Due to its legged mechanism, it can crawl easily on terrain,
rough surfaces. The robot sends the data for further
investigation. It is a system we believe is a need of the time
and will assist the rescue team so that the number of
humans gets rescued. Quadruped robot will serve as a
significant requirement in disasters.
This robot works with an application named Blynk which
enables to user to control it with the help of internet
regardless the location of the user and the robot. The
application is able to recognize the Wi-Fi module when
activated on the robot through which it connects to the
robot directly.
The robot consists of legged mechanism which require
coding to be able to control the walking of the robot
through the application which is already been done by us.
We have designed a simple user interface which is very
easy to understand and work with any type of user
controlling the robot. This robot does not require the user
to have any technical idea.
Fig -2: Quadruped Bot
5. DESIGN
The demand of legged increasing day by day. Legged robots
are more advanced and stable than wheeled robots, they
are mostly used on uneven surfaces such as battlefield,
hilly and rocky surfaces, forest area and in areas affected
by natural disaster. However, the perfect movement for
robots with legged mechanism is constantly updating. The
design is implemented in such a way that it can tackle any
obstacle which is not possible by robots having wheeled
mechanism.
Fig -3: Flowchart of Blynk interface
Blynk app provides a simplistic interface being able to
access the robot easy and manoeuvre it accordingly. It is
easily able to connect to the Wi-Fi module attached to the
robot and also connect to the camera to provide live
stream report on the computer/mobile screen.

Fig -4: Blynk interface
6. FLOW CHART
Fig -5: Flowchart for working of robot
7. COMPARISION WITH EXISTING MODEL
Chart -1: Graphical comparison
Fig -6: Performance wise comparison
8. RESULT ANALYSIS
The previous system used a wheel mechanism which is not
good for moving through rough and hilly areas. These bots
are difficult to use in situations like earthquakes, floods
where there is no smooth surface to move from one place
to another. Weighing Robots are designed for carrying
weight so they are much bulkier in size. To overcome the
difficulties in previous systems, we introduced a new
system in which we used a legged mechanism. Also these
bots can crawl through rough hilly terrain easily without
disturbing the stability. One of the essential feature of our
proposed paper.
9. FUTURE SCOPE
As we can see the quadruped bot we created can be used to
rescue people from disasters via live stream and buzzer
alert. But this project can also be used in defense area. By
this application of bot it can be used as a landmine detector
as the bot is light weight and can be equipped with metal
detector so that there will be no physical contact with
mines.
10. CONCLUSION
Due to the problem of finding people stuck inside debris
of fallen buildings or in any other similar scenario. The
robot presented in this paper will be a useful asset to the

rescue team being able to crawl inside small voids and find
a person requiring help. This robot is easy to maneuver
over rough terrain and easy to use with a simplistic
interface provided by the Blynk software.
REFERENCES
[1] Min-Chan Hang*, Chiou-Jye Huang, Feifei Liu, “The
Development of a Hexapod Robot with Wireless
Remote Control“, 2018.
[2] Harshitha R Menezes and Muhammad Hameem
Safwat Hussain, “Surveillance Robot using Raspberry
Pi and IoT”, 2018 International Conference on Design
Innovations for 3Cs Compute Communicate Control.
[3] Jongrib Ha , Jaegwang Lee, Yeoh Chin Ean1,
Sangryong1 Lee and Hak Yi, “Optimal Design of a
Quadruped walking robot’s Leg” , 2018 18th
International Conference on Control, Automation and
Systems (ICCAS 2018).
[4] Arrshith RG, Suhas K.S, Tejas C, “Unmanned Ground
Vehicle (UGV) - Defense Bot”, Proceedings of the
Second International Conference on Inventive Systems
and Control (ICISC 2018).

IRJET - An IoT based Human Detection Quadruped Bot for Rescue

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