Intelligent Control System of Fire-Extinguishing and Obstacle-Avoiding Hexapod Robot

Intelligent Control System of Fire-Extinguishing and Obstacle-Avoiding Hexapod Robot

Qory Hidayati, Fathur Zaini Rachman, Nur Yanti


This hexapod fire extinguisher robot is constructed based on technological developments evolving very rapidly, especially in the field of robotics technology. The hexapod robot has become a big concern in the development of robotics technology with many existing contests of hexapod robot. This hexapod fire extinguisher robot is designed based on Fuzzy Mamdani Logic. The navigation of fire extinguisher hexapod robot is based on distance detection with ultrasonic sensor determining the movement of robot’s legs utilizing Fuzzy Logic. A fire extinguisher hexapod robot will explore a tunnel arena having several rooms created for the robot to explore. This hexapod robot uses Arduino as a microcontroller and uses 18 servo motors in which each foot requires 3 servo motors. Moreover, good navigation will be aimed by utilizing Fuzzy Logic in the hexapod robot design. The application of many rules on Fuzzy Logic makes the better navigation; furthermore, the results present the ultrasonic sensor having an average error of 1.256%, the Fuzzy Logic applied showing 0% error, and the overall success rate presenting approximately 80%.


Control System, Hexapod Robot, Fuzzy Logic, Arduino, Ultrasonic Sensor, Flame Sensor

Full Text:



[1] Budiharto, Widodo, “Learn to Build Smart Robot,” PT Elex Media Komputindo, Jakarta, 2006.

[2] Darwison, Ade Ermadi, “Design and Implemetation of Mobile Robot as Fire Detector and Estinguisher Using Ultrasonic and Ultraviolet Sensor Based on Microcontroller Renesas R8C/13,” Teknika, Unand - Padang, 2009.

[3] Halim, Sandy, “Designing Mobile Robot as Object Carrier Using OOPic-R,” PT Elex Media Komputindo, Jakarta, 2007.

[4] Elmiawan Arnas, “Implementation of Wall Following Navigation System Using PID Controller Using Tunning Method on KRCI Wheeled Senior Division,” Universitas Brawijaya Journal, Malang, 2014.

[5] Widiyatmoko, Ari. “Fire Estinguisher Whelled Robot Using Fire Sensor Processing Based on Fuzzy Logic,” Elinvo National Seminar Proceeding, Vol. 2, October, Yogyakarta, 2016.

[6] Rohmanuddin, M., "Effects of the Number of Fuzzy Sets in a Fuzzy Controller: An Analysis," Essays on Workshop for Computation in Science and Nuclear Engineering VII, National Atomic Beureau, Jakarta, February 24 – 25, 1997.

[7] Zadeh, L. A., “Fuzzy Sets.” Journal Information and Control, Vol. 8, 338-353, 1965.

[8] Jayanegara, M. M., Zulfatman, Z., & Mardiyah, N. A. (2016). “Pemodelan dan Pengaturan Adaptif untuk Sistem Hidrolik Tak-Linier.” KINETIK, 1(3), 107-122.

[9] Irfan, Muhammad, et al. "Performance Comparison of Fuzzy Logic and Proportional-integral for an Electronic Load Controller." International Journal of Power Electronics and Drive Systems (IJPEDS) 8.3 (2017): 1176-1183.

[10] Faruq, Amrul, Shahrum Shah bin Abdullah, and M. Fauzi Nor Shah. "Optimization of an intelligent controller for an unmanned underwater vehicle." TELKOMNIKA (Telecommunication Computing Electronics and Control) 9.2 (2011): 245-256.

[11] Shah, MFN., S. S. Abdullah, and A. Faruq. "Multi-objective optimization of remotely operated vehicle control system using surrogate modeling." Control System, Computing and Engineering (ICCSCE), 2011 IEEE International Conference on. IEEE, 2011.


  • There are currently no refbacks.

Referencing Software:

Checked by:

Supervised by:


View My Stats

Creative Commons License Kinetik : Game Technology, Information System, Computer Network, Computing, Electronics, and Control by is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.