Developing a robotic system for rescue and medical intervention

Creative Commons License

Elmasry V., Apaydın S.

ELEKTRİK-ELEKTRONİK MÜHENDİSLİĞİ ULUSAL KONGRESİ (EEMKON) 2026, İstanbul, Türkiye, 14 - 15 Ocak 2026, ss.129-137, (Tam Metin Bildiri)

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.129-137
  • Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
  • İstanbul Kültür Üniversitesi Adresli: Evet

Özet

This study presents the Rescue and Medical Intervention System (RMIS), a humanoid robotic platform built on ROS 2 to operate in sophisticated environments such as bomb disposal, emergency medical response, and mine rescue. RMIS integrates a Kinect V2 sensor and the MediaPipe library for real-time human pose estimation by processing synchronized and calibrated RGB and depth images to extract the 3D (x, y, z) coordinates of skeletal joints, with enhanced accuracy and spatial alignment ensured through camera calibration. A custom ROS 2 package captures and processes these data, converting 2D coordinates to 3D with depth mapping, and broadcasts the positions for further processing. These coordinates are then transmitted over a WebSocket connection from the main Ubuntu system to a Raspberry Pi 5, which serves as the robot's central control unit. Inverse kinematics algorithms first compute the necessary joint angles to replicate human movement, and then, as the robot executes the motion, an onboard Inertial Measurement Unit (IMU) operates simultaneously to provide real-time orientation feedback that helps stabilize the robot and prevent it from falling. The computed angles are used to drive MG996R servo motors via ROS 2 nodes running on the Raspberry Pi. For development and validation, joint positions are visualized in RViz and simulated on a humanoid model in Gazebo, enabling safe testing before physical deployment. The RMIS robotic system thus achieves accurate real-time motion imitation with low latency, combining advanced software and reliable hardware to enhance safety, efficiency, and autonomy in critical rescue and medical intervention missions.