Victim Retrieval System Based on Object Classification on a Hexapod Robot Using a 2-DoF Gripper

Ihdad Yafi Prahasana; Anugerah Wibisana; Senanjung Prayoga; Yoga Adriansyah; John Holy Ivan; Habib Sulaiman

doi:10.2991/978-94-6463-620-8_29

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Victim Retrieval System Based on Object Classification on a Hexapod Robot Using a 2-DoF Gripper

Authors

Ihdad Yafi Prahasana¹, Anugerah Wibisana¹^{, *}, Senanjung Prayoga¹, Yoga Adriansyah¹, John Holy Ivan¹, Habib Sulaiman¹

¹Department of Electrical Engineering, Politeknik Negeri Batam, Kepulauan Riau, Indonesia

^*Corresponding author. Email: wibisana@polibatam.ac.id

Corresponding Author

Anugerah Wibisana

Available Online 25 December 2024.

DOI: 10.2991/978-94-6463-620-8_29 How to use a DOI?
Keywords: Hexapod Robot; Victim Detection; Gripper 2-DoF
Abstract: This study aims to develop the Barelang F1 hexapod robot for the 2024 Indonesian SAR Robot Contest (KRSRI), in compliance with new regulations requiring the distinction between real and dummy victims during rescue missions. The identified problem is the lack of a system in Barelang F1 capable of differentiating between real and dummy victims. The objective of this research is to implement a detection system using the Huskylens camera sensor, which combines two algorithms: color recognition and object classification, to detect and classify victims. Image processing is conducted without the need for an additional mini-PC, thereby reducing system complexity and hardware costs. The robot employs a two-degree-of-freedom (DoF) gripper as the output mechanism to retrieve victims during rescue missions. The results show that the system achieved a 95% success rate in identifying and retrieving real victims. However, the system’s efficiency is constrained by the need to identify victims one by one, leaving room for improvements in time efficiency.
Copyright: © 2024 The Author(s)
Open Access: Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title: Proceedings of the 7th International Conference on Applied Engineering (ICAE 2024)
Series: Advances in Engineering Research
Publication Date: 25 December 2024
ISBN: 978-94-6463-620-8
ISSN: 2352-5401
DOI: 10.2991/978-94-6463-620-8_29 How to use a DOI?
Open Access: Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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ris enw bib

TY  - CONF
AU  - Ihdad Yafi Prahasana
AU  - Anugerah Wibisana
AU  - Senanjung Prayoga
AU  - Yoga Adriansyah
AU  - John Holy Ivan
AU  - Habib Sulaiman
PY  - 2024
DA  - 2024/12/25
TI  - Victim Retrieval System Based on Object Classification on a Hexapod Robot Using a 2-DoF Gripper
BT  - Proceedings of the  7th International Conference on Applied Engineering (ICAE 2024)
PB  - Atlantis Press
SP  - 376
EP  - 392
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-620-8_29
DO  - 10.2991/978-94-6463-620-8_29
ID  - Prahasana2024
ER  -

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