HUMANOID ROBOTS IN DEFENCE AND RESCUE
OPERATIONS
ABSTRACT:
Advancement in Artificial Intelligence has
proved that humanoid robots can be of great
use to society if they are embedded with
proper software .
In this paper we have come up with an idea of
how humanoid robots can be used in defence
and during disaster rescue operations .Though
humans have better cognitive skills than robot
they cannot sustain extreme and harsh
environment conditions such as radioactivity
temperature of -50⁰C at Siachen borders etc.
and even they are unable to carry out proper
rescue operations during calamities.
In all these emergencies if humanoid robots
replace human it can prove a boon to
mankind.
KEYWORDS:
Deictic,egocentric,allocentric,monorepellent,XL
R-8 board,raspberry-pi,embodiment,actuator.
I. INTRODUCTION
Military robots are autonomous robots or
remote-controlled mobile robots which can be
used in defense as well as rescue operations
during disasters. These humanoid robots are
currently under development and many are
used in U.S military. In India controlling and
application of humanoid robots is far less
explored. If humanoid robots are trained for
defense and disaster rescue then it will create
a large difference in our military power as
explained in the following scenarios:
 Thar desert in Rajasthan is the area
where we have a large border with
Pakistan. It becomes very tough for
 our B.S.F and army to survive in the
harsh conditions and guard borders.
 In cease fire on Jammu & kashmir
borders, IED blasts every day we lose
our soldiers.
 During floods, fire hazards,
radioactive disaster or earthquake it
becomes tough for NDRF teams to
carry rescue operations and people
die till help reaches out them.
In these scenarios if humanoid robots are
placed under the control of defense or rescue
teams, it will save huge number of lives.
II. PREVIOUS WORK
While there has been work on using
augmented reality for human -robot
communication in India but there has been
little research into using augmented and virtual
reality for making use of robots in defense.
There has been implementation of Sparse
Distributed Memory (SDM) as a support for
vision and memory-based robot localization
and navigation, including obstacle avoidance.
The SDM is a type of associative memory
suitable to work with high dimensional Boolean
vectors.
It was proposed by in 1980’s by P. Kanerva
and has been successfully used for vision-
based robot navigation.
The most prominent system currently used is
the unmanned aerial vehicle (IAI Pioneer and
RQ-1 Predicator) which can be armed with air-
to-ground missiles and remotely operated from
a command center. Daksh-Remotely Operated
Vehicle developed by DRDO: It is an
electrically powered and controlled robot used
for locating, handling and destroying
hazardous objects safety.
III. DESCRIPTION
In this paper we integrated all the
developments made in the domain of robotics
and tried to present a Humanoid robot which
can be used in defense. Language capable
robots interact with humans to make frequent
reference to nearby objects, locations or
people. It will be advantageous if robots are
targeted simultaneously with verbal
description.
Use of Egocentric, allocentric and multi-
perspective DEICTIC gestures
Figure1: Mixed reality DEICTIC gesture
Using commercially available headset called
HTC Vive and VR gloves operator can
visualize robot through virtual interactive
window and control robot. But there is a
problem that the team sitting in the virtual
environment will have different view to the
object with respect to robot placed in the
remote area. Therefore, use of mixed reality
deictic gesture can increase accuracy and
precision of the task carried out by robot under
the control of its human teammates.
Let R be the robot and H be the robot’s human
teammate. An object appearing to both R and
H can be aid to be located at point 𝑃𝑅 ,in
robot’s coordinate frame and at point 𝑃𝐻 in
human’s coordinate frame. Suppose R wants
to issue a deictic gesture to refer this object.
Note that unlikely in standard reality a robot
operating within mixed reality environment will
have access to perspective other than its own
i.e. perspective of its human teammates.
Egocentric Deictic gesture: In egocentric
gesture the robot points to the referred object
and performs physical operation according to
its perspective. But it has low privacy.
Allocentric Deictic Gesture: The allocentric
nature of this type of action is similarly
reflected in the manner in which it must be
executed. That is to gesture towards an object
O located at point 𝑃𝑂𝐻 =(𝑋𝐻, 𝑌𝐻 ,𝑍𝐻 ) within its
human teammates H’s coordinate frame, a
robot need not consider it’s own coordinate
frame at all, and may simply draw a circle
centered at pixel coordinates 𝑃𝑂𝐻 =(𝑃𝑂𝑥 𝐻 𝐻
,𝑃𝑂𝑦 )
after transformation from camera coordinates
to pixel coordinates.
Multi-Perspective Deictic Gesture: The multi-
Perspective Deictic reflected in such a way
that gesture towards an object O located at
point 𝑃𝑅 within its own perspective and at
pose 𝑃𝐻 within its teammate’s perspective
requires the robot to first calculate its own
pose from the perspective of its interlocuter.
The robot must convert the poses of both the
object and itself from its human teammate’s
coordinate frame to pixel coordination
𝑃𝑂𝐻 =(𝑃𝑂𝑥
𝐻 𝐻
,𝑃𝑂𝑦 ) (i.e. pixel coordinates of object
from human’s perspective)and 𝑃𝑅𝐻 = (𝑃𝑅𝑥 𝐻 𝐻
,𝑃𝑅𝑦 )
(i.e. the pixel coordinates of the robot from the
human’s perspective) in its human teammates
display, and then an arrow from 𝑃𝑅𝐻 to 𝑃𝑂𝐻 in
the display.
Mixed reality deictic gesture is the integration
of all three above mentioned categories thus
gives more precision in locating object by robot
and accomplish task.
Because egocentric require gesturer to not
only be embodied and co-present but also to
be able to take physical action in world. While
allocentric gesture helps in circling the location
of the referred object according to human
perspective. But it does not perform any
physical action as it is not embodied. Multi-
perspective gesture is of low cost and produce
two perspectives and works according to
human perspective. Moreover, it has high
privacy.
Thus, the multi perspective deictic gesture is
the best which can be used to make humanoid
robots to be substituted on border areas where
army has to live in tough conditions and while
rescue operations. As the robot will work
according to the perspective of human team
who are monitoring it.
Figure2:Multi tasks carried out by humanoid
robots in defence.
Use of Monopropellant Powered
Humanoid Robots
Actuator can be designed to provide energy to
self-powered robots. This helps robot to
generate power for itself and charge itself, thus
increases its efficiency and long-lasting power
supply.
Use of Light Sensors on Humanoid
Robots
Light sensors can be attached to robots so that
it can sense light at night time if some intruder
tries to cross border from other side .As the
light sensor gets activated it will send an alarm
to army sitting in the control rooms. This will
bring to their attention that someone tried to
cross border and they will give specific
instructions to robots to either stop intruder
from entering inside or else kill him.
Robots can be used in disaster
management.
Figure3: Monitoring and controlling
of fire fighter robots
Robots act as fire extinguisher{ fire fighting
robot}. It detects fire in disaster prone area. It
can be controlled using IOT. Camera and
Raspberry Pi are added for better functioning
of the robot. Infrared sensors can be
embedded in robot to help it avoid obstacle
and take a different path to target location.
Flame sensors can be used for detection of
fire. XLR 8 is a microcontroller.
Robot can rotate actively while scanning for
fire. It is used in hazardous environment such
as radioactive leakage. It takes many pictures
of fire places frequently and send it to central
system.
Cyclic diagram of humanoid robots during
rescue operations
Whenever a disaster occurs at any place, the
sensors will send the signal to the antenna
and antenna will send the signal to indoor
monitoring systems which in response will
send the mini robots to the location in order to
track down and send signals about any of the
people who are alive but still are stuck in
between. The mini robots would have sensors
as well as cameras fitted to them so that they
can send the signal to the main monitor
whenever they find a person. The signal would
also consist of the live camera recording of the
place which would help the authorities to take human's life. This would also help save time
the required measures. and man power and also promote the usage of
artificial intelligence.
This can be followed by sending humanoid
robots to the location so that they can sense
the exact location of the victims and help them
to be rescued from the sight. After rescuing a
particular person from a location, a message
will be sent to the main monitor in order to
keep track of the number of people being
saved.This would help the people as robots
would be helping humans in saving other

Figure4: Cyclic diagram

CONCLUSION
In this paper we have presented a model in
which we have integrated all the existing works
and researches done in the domain of robotics
such that we can use them together to form a
humanoid robot which can strengthen defense
of our country and provide rescue during any
type of calamity where human aid can’t reach
at fast pace. In future work, we will plan to
expand this model to framework on a set of
case studies. We then plan to implement this
idea to form a working humanoid robot which
can hopefully be used for our countries
defense in near future.

REFERENCES

1. Henry Admoni, Thomas Weng and

and Brian Sacassellati 2016.Modeling
communicative behavior for object
references in human-robot interaction.
In Proceedings of the IEEE
International Conference on Robotics
and Automation (ICRA).
2. Tom Williams, Mirror Lab, Colorado
school of mines. A Framework for
Robot-based Mixed Reality Deixis
3. Dr. Alexander Kott, ARL Chief
Scientist. AI, Robotics and Cyber: How
much will they change warfare
4. Mr.Prathamesh M.Oak,Mr. A.P.
Kadam,Dept of Mechanical
Engineering ,Bharti Vidyapeeth’s
College Of
Engineering,Kolhapur(India).Automati
on,Robotics and Mechatronics-
Introduction to Monopropellant
Powered Robotics.
5. Jordan Allspaw*,Jonathan
Roche*,Nicholas Lemiesz**,Michael
Yannuzzi*,Holly A.Yanco*
*University of Massachusetts Lowell

**Wentworth Institute of Technology