ESP32-Based Sumo Robot Control System Using PlayStation 4 Controller with Semi-Autonomous Ultrasonic Features


Sitti Wetenriajeng Sidehabi(1*); Muhammad Muflih Mubarak(2); Hamdan Gani(3);

(1) Politeknik ATI Makassar
(2) Politeknik ATI Makassar
(3) Politeknik ATI Makassar
(*) Corresponding Author

  

Abstract


This study presents the design and implementation of a sumo robot control system integrating an ESP32 Devkit V1 microcontroller with a wireless PlayStation 4 controller and semi-autonomous features based on the HC-SR04 ultrasonic sensor and MG-995 servo motor. The system addresses challenges in sumo robots, including communication stability and control precision. Hardware integration involved DC motors, an L298N driver, and a LiPo battery, while software development used the Arduino IDE with Bluetooth connectivity. Experimental testing demonstrated stable communication with a maximum range of 36 meters, an average controller connection time of 1.998 seconds, and 100% detection accuracy within a 10 cm radius. Push performance tests showed the robot could move loads up to 1655 g with standard tires and 3340 g with sponge tires. These results highlight the advantages of combining consumer-grade game controllers with advanced microcontrollers, offering improved precision, extended range, and intuitive user interaction for competitive robotics.


Keywords


Sumo Robot; ESP32 Devkit V1; HC-SR04 Ultrasonic Sensor; PlayStation 4 Controller; Bluetooth Technology

  
  

Full Text:

PDF
  

Article Metrics

Abstract view: 2 times
PDF view: 2 times 		     

Digital Object Identifier

doi  https://doi.org/10.33096/ilkom.v17i3.2591.292-301 		  

Cite

How to cite item

References


G. E. Magbilang, K. L. Valenzuela, S. I. Roxas, and Y. H. Wong, “Enhancing User Experience: Designing Intuitive Interfaces for Sumo Robot Operations,” in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14736 LNAI, Springer, 2024, pp. 250–261.

R. Aisuwarya, T. Erlina, R. Ferdian, D. Yendri, and D. Darmawan, “Designing a Microcontroller-Based Sumo Robot with Analysis of Thrust Parameters,” in 2023 2nd International Conference on Computer System, Information Technology, and Electrical Engineering (COSITE), Aug. 2023, pp. 49–54, doi: 10.1109/COSITE60233.2023.10249324.

D. Nardi, J. Roberts, M. Veloso, and L. Fletcher, “Robotics Competitions and Challenges,” in Springer Handbooks, Springer, 2016, pp. 1759–1788.

H. Erdem, “Application of Neuro-Fuzzy Controller for Sumo Robot control,” Expert Systems with Applications, vol. 38, no. 8, pp. 9752–9760, Aug. 2011, doi: 10.1016/j.eswa.2011.02.024.

B. G. Antunes, L. F. F. P. Bezerra, A. L. C. Canella, and M. F. Pinto, “Development of an Autonomous Robot for Competitive and Educational Purposes in the Sumo Category,” in 2024 Brazilian Symposium on Robotics (SBR), and 2024 Workshop on Robotics in Education (WRE), Nov. 2024, pp. 209–214, doi: 10.1109/SBR/WRE63066.2024.10837592.

J. Liu, Z. Yang, S. Zlatanova, S. Li, and B. Yu, “Indoor Localization Methods for Smartphones with Multi-Source Sensors Fusion: Tasks, Challenges, Strategies, and Perspectives,” Sensors, vol. 25, no. 6, p. 1806, Mar. 2025, doi: 10.3390/s25061806.

P. F. Ciarnoscki, K. Hoffmann, and R. G. Scortegagna, “Improvement of a mobile autonomous robot to participate in sumo competitions,” in 2015 IEEE 24th International Symposium on Industrial Electronics (ISIE), Jun. 2015, vol. 2015-Septe, pp. 633–637, doi: 10.1109/ISIE.2015.7281542.

J. Du, W. Vann, T. Zhou, Y. Ye, and Q. Zhu, “Sensory manipulation as a countermeasure to robot teleoperation delays: system and evidence,” Scientific Reports, vol. 14, no. 1, p. 4333, Feb. 2024, doi: 10.1038/s41598-024-54734-1.

G. E. Magbilang, K. L. Valenzuela, S. I. Roxas, and Y.-H. Wong, “Enhancing User Experience: Designing Intuitive Interfaces for Sumo Robot Operations,” in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14736 LNAI, H. Degen and S. Ntoa, Eds. Cham: Springer Nature Switzerland, 2024, pp. 250–261.

H. Sharma, S. Sharma, H. Kumar, M. Yadav, K. Singh, and F. Moreira, “Object Sensing Robot and Distance Measurement Using Arduino UNO,” in International Conference on Information Technology & Systems, Springer, 2025, pp. 39–48.

J. Luo et al., “Robotics Perception and Control: Key Technologies and Applications,” Micromachines, vol. 15, no. 4, p. 531, Apr. 2024, doi: 10.3390/mi15040531.

S. Mexias, V. Fotopoulos, and K. Giannakopoulos, “Comparison of HC-SR04 and TF-LC02 Distance Sensors for Indoor Mapping Applications,” in 2024 Panhellenic Conference on Electronics & Telecommunications (PACET), Mar. 2024, pp. 1–4, doi: 10.1109/PACET60398.2024.10497028.

K. Ramakrishnan, K. Murugan, and M. K. Maran, “Arduino-Driven Elevating Bridge Responsive to Water Level Variations using HC-SR04,” in 2024 3rd International Conference on Automation, Computing and Renewable Systems (ICACRS), Dec. 2024, pp. 162–166, doi: 10.1109/ICACRS62842.2024.10841734.

V. S. Chinta, S. K. Reddi, N. Yarramsetty, S. C. Pasha, and P. N. Bhanu, “Smartphone-Controlled Robot Manipulator for Pick and Place Applications,” in Smart Innovation, Systems and Technologies, vol. 409 SIST, Springer, 2024, pp. 69–78.

B. B.U, S. Gouda, N. P K, R. Mullick, and K. M. Khizar, “Development of Robotic Arm for the Pick and Place Operation in Small Scale Industry,” in 2024 Second International Conference on Advances in Information Technology (ICAIT), Jul. 2024, vol. 1, pp. 1–6, doi: 10.1109/ICAIT61638.2024.10690692.

M. P, A. JB, S. S. Kaimal, and S. R S, “Alleviating Muscle Fatigue in Robotic Prosthetic Arms Through Multi-Sensor Fusion and Adaptive Real-Time Grip Assistance,” in 2024 International Conference on Communication, Computing, Smart Materials and Devices (ICCCSMD), Dec. 2024, pp. 1–12, doi: 10.1109/ICCCSMD63546.2024.11015135.

J. Ma, “Obstacle Detection and Avoidance Using Ultrasonic Sensors in Autonomous Robots,” Highlights in Science, Engineering and Technology, vol. 71, pp. 68–78, Nov. 2023, doi: 10.54097/hset.v71i.12378.

I. H. Amal, “Prototipe Robot SUMO Otonom dalam Mengenali Object Musuh berbasis Sensor Ultrasonic,” IJEERE: Indonesian Journal of Electrical Engineering and Renewable Energy, vol. 1, no. 1, pp. 21–28, May 2021, doi: 10.57152/ijeere.v1i1.78.

N. Cameron, “ESP32 Microcontroller,” in ESP32 Formats and Communication: Application of Communication Protocols with ESP32 Microcontroller, Springer, 2023, pp. 1–54.

Irga, F. Rahayu, and A. Zuchriadi, “Analysis of Power Consumption Efficiency of ESP Microcontroller Operation in the Implementation of IoT-Based Agricultural Monitoring Systems,” in 2023 10th International Conference on ICT for Smart Society (ICISS), Sep. 2023, pp. 1–5, doi: 10.1109/ICISS59129.2023.10291944.

P. Saraswathi, M. Prabha, B. Dhiyanesh, R. Akchay Kumar, J. Barith Ahamed, and M. Mohamed Ismail, “IoT-Powered Solution for Proactive Air Quality Management,” in 2024 5th International Conference on Image Processing and Capsule Networks (ICIPCN), Jul. 2024, pp. 754–758, doi: 10.1109/ICIPCN63822.2024.00130.

L. Jocknoi and P. Kucharoen, “ESP32Exten: Designing and Developing an ESP32 Microcontroller Expansion for IoT Applications with Motor Propulsion and AI Image Processing,” in 2024 8th International Conference on Information Technology (InCIT), Nov. 2024, pp. 278–283, doi: 10.1109/InCIT63192.2024.10810578.

S. C. Murphy and A. Lefloïc-Lebel, “Controllers,” in The Routledge Companion to Video Game Studies, Routledge, 2023, pp. 17–24.

H. J. Kim et al., “Robot-Assisted Retrograde Intrarenal Surgery: A Mini Review of the Literature on Robotic Surgery Platforms for Endoscopic Stone Surgery,” European Urology Focus, Jul. 2025, doi: 10.1016/j.euf.2025.06.011.

K. Chenchireddy, R. Dora, G. B. Mulla, V. Jegathesan, and S. A. Sydu, “Development of robotic arm control using Arduino controller,” IAES International Journal of Robotics and Automation (IJRA), vol. 13, no. 3, p. 264, Sep. 2024, doi: 10.11591/ijra.v13i3.pp264-271.

F. Serepas, I. Papias, K. Christakis, N. Dimitropoulos, and V. Marinakis, “Lightweight Embedded IoT Gateway for Smart Homes Based on an ESP32 Microcontroller,” Computers, vol. 14, no. 9, p. 391, Sep. 2025, doi: 10.3390/computers14090391.

S. Hasan, T. Pantha, and M. A. Arafat, “Design and development of a cost-effective portable IoT enabled multi-channel physiological signal monitoring system,” Biomedical Engineering Advances, vol. 7, p. 100124, Jun. 2024, doi: 10.1016/j.bea.2024.100124.

S. Gupta, K. Ray, and S. Kaiser, “Self-Balancing Mobile Robot with Bluetooth Control: Design, Implementation, and Performance Analysis,” Automation, vol. 6, no. 3, p. 42, Sep. 2025, doi: 10.3390/automation6030042.

A. Rubyat, S. T. Tuhin, S. Al Razi, S. Banik, M. R. Uddin, and M. Hasan, “Bluetooth Controlled Arduino-based Robotic Arm for Object Pick and Place,” in 2025 7th International Conference on Inventive Material Science and Applications (ICIMA), May 2025, pp. 1078–1082, doi: 10.1109/ICIMA64861.2025.11073850.

F. Ahmmed et al., “Arduino-Controlled Multi-Function Robot with Bluetooth and nRF24L01+ Communication,” International Journal of Robotics and Control Systems, vol. 4, no. 3, pp. 1353–1381, Aug. 2024, doi: 10.31763/ijrcs.v4i3.1517.

K. S, S. S. Nath, C. S, and K. D, “Smart Water Level Indicator and Control System Using Arduino Uno and Bluetooth,” in 2024 10th International Conference on Electrical Energy Systems (ICEES), Aug. 2024, pp. 1–5, doi: 10.1109/ICEES61253.2024.10776937.


Refbacks

  • There are currently no refbacks.


Copyright (c) 2025 Sitti Wetenriajeng Sidehabi, Muhammad Muflih Mubarak, Hamdan Dani

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.