KnuthLab LEGO Exploration Rover

KnuthLab Exploration Rover with Researchers A. Fischer and N. Malakar

The Knuth Cyberphysics Laboratory in the University at Albany Physics Department has developed the KnuthLab LEGO Exploration Rover, which acts as a testbed for robotic intelligence and navigation software. Development of this rover was funded by a NASA SBIR Award (Advanced Bayesian Methods for Lunar Surface Navigation) through Autonomous Exploration Inc. as well as a University at Albany Faculty Research Award (Developing Robotic Explorers, PI: K.H. Knuth).

The LEGO Exploration Rover is powered by six NXT Standard Motors in a Rocker-Bogie suspension system used in all of the NASA Mars rover designs. The rover is approximately 1.5 ft high with a 1 ft x 1.5 ft base. It is larger than the NASA Sojourner Rover, which was part of the Pathfinder Mission to Mars in 1997, and smaller than the Mars Exploration Rovers Spirit and Opportunity. It can safely carry a payload of 8 pounds.

KnuthLab LEGO Exploration Rover

The LEGO Exploration Rover has two laptop bays built into the box-like frame in which it can carry two Asus Eee Laptops for onboard processing. The wheels are controlled by two LEGO NXT bricks, which can communicate with the laptops via Bluetooth. The rocker-bogie suspension and low speed allows it to handle relatively rugged terrain and steep grades.

The white frame mounted on top of the rover is the Bayesian Vision-Based Navigation System being developed by Autonomous Exploration Inc. for NASA.

Check back, as we will be posting videos of its operation and discussing some of the important design features.

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DIY Arduino Circuit

Jameco.com has an interesting article on how to build your own Arduino microcontroller circuit.

The circuit relies on an ATMega328 microcontroller, and since it requires only component parts it is cheaper and has a potentially smaller footprint than the popular Arduino Boards.

We have started using Arduino microcontrollers to directly control the LEGO Motors (9842), and expect to post on this sometime in the near future. In the meantime check out posts on LEGO NXT motor control:

LEGO NXT Motor Wiring
Hacking the LEGO Mindstorms NXT Standard Motor

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Naughty Nestor is Bent on Destruction

Some time ago, I invented this character Naughty Nestor.

Ready to Blow up some LEGO creations!

Nestor does not play well with others.
He doesn’t play well at all.
His favorite pastime is blowing up LEGO creations.

Here is an example of what Nestor is capable of.
This creation is called Stalker and it was created by Misterhaan.
But Stalker is being stalked!
Look out Stalker!
Look out for Nestor!

Look out Stalker! You are being stalked!

This animation was made using LDraw, POVRay and a Matlab script that generated a set of POVRay files each with the parts individually spinning and moving away from the blast center. Add a flash of light in a few images, and voila! Explosion!

You can find this video on Youtube as well at:
http://www.youtube.com/watch?v=9Pmz8soKdko.
Share it with your friends!

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Philo’s Extreme NXT Pages

Phillipe “Philo” Hurbain, co-author of Extreme NXT: Extending the LEGO MINDSTORMS NXT to the Next Level (Technology in Action) has a wonderful website dedicated to the technical aspects of LEGO NXT and its component sensors and motors.

Philo’s website has several tabs corresponding to different topic areas:
LEGO® MINDSTORMS™ & LEGO Technic: a variety of interesting projects
NXT: details about LEGO NXT components and NXT-specific projects
Sensors: detailed information about sensor workings and electronics
LEGO Tech Info: LEGO technical information
LDraw: tools for LDraw part authors
LEGO & Photo: accessories for photographers

My favorite pages are:
LEGO® 9V Technic Motors compared characteristics studies the various characteristics of a wide variety of LEGO motors.
http://www.philohome.com/traction/traction.htm studies the capabilities of a wide variety of LEGO wheels.

Enjoy!
and check out his new book:

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A Catalog of Omni-directional or Holonomic Wheels for LEGO Robots

I have been researching the possibilities for omni-directional or holonomic wheels for LEGO robots. An omni-directional or holonomic wheel is one that can roll not just backwards and forwards, but sideways as well.

New Rotocaster Omni-Directional Wheel

While these are often used on robots with three wheels where all three rotate at different rates allowing the robot to go in any direction,

Three-Wheeled Omni-Wheel Prototype by Xander Soldaat at Bot Bench (click on image to see more)

I am interested in using these on a rover that can employ differential steering smoothly without skidding.

There are several different options that one can consider. LEGO purists may consider making their own omni-directional wheel designs out of only official LEGO parts. Another option is to purchase manufactured omni-directional wheels. These come in two classes: those that are designed to be LEGO compatible, and those that are not LEGO compatible. In the latter case, one would have to construct some kind of coupling mechanism to enable the wheel to connect to LEGO parts.

Here are some of the options that I have found.

Omni-Directional Wheels Constructed from LEGO Parts

Omni-Directional LEGO Wheels by Xander at Bot Bench
These wheels use the LEGO pulley to get a six-fold symmetry. Each “wheel” uses 12 LEGO wheels. For archiving purposes, here are three pictures. Please visit Xander at Bot Bench for larger images and more details.

Omni-Directional LEGO Wheels by Xander Soldaat at Bot Bench

Details of Omni-Directional LEGO Wheels by Xander Soldaat at Bot Bench

This amazing tank by Peer Kreuger also sports omni-directional wheels made from LEGO parts

LEGO Tank with LEGO Omni-Directional Wheels

The Omni Bot v2 by jason701802 also sports omni-directional wheels

Omni Bot v2 by jason701802

LEGO-compatible Manufactured Omni-Directional Wheels

This LEGO-compatible wheel is made by the School of Robotics

School of Robotics Omni-Directional Wheels

Rotacaster makes a LEGO-compatible omni-directional wheel:

Rotacaster Robot Wheel (LEGO-compatible)

Rotacaster is also coming out with a new design

New Rotocaster Omni-Directional Wheel

Rotacaster also produces several non-LEGO compatible designs.

Tetrix also makes LEGO-compatible Omni-Directional Wheels

Tetrix Omni-Directional Wheels

General Manufactured Omni-Directional Wheels

Mecanum Omni-Wheel Designed by Bengt Ilon in 1973 at the Mecanum AB Company

Mecanum Wheel

Mecanum Omni-Directional Wheel

Vex Omni-Directional Wheel

Damon WH-01 Omni Directional Wheel (hexagon hole)
(Outer Diameter:60mm, Inner Diameter:11mm, Material: Nylon)

Damon WH-01 Omni-Directional Wheel

Kornylak Omni-Directional Wheel

Kornylak Transwheel

Kornylak Omni-Directional Wheel

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Colorful LEGO Storage Ideas

In a previous post, Storing Your LEGO Collection, I discussed various options for storing one’s LEGO collection. Several of these options included tackle boxes since they can hold several utility boxes with adjustable partitions, while providing top bulk storage. I have found them to be quite useful in providing portable storage for small to medium LEGO collections.

Plano has come out with a new line of colorful tackle box designs geared for arts and crafts storage. These are the Creative Options
line of Storage Boxes and Organizers. The color scheme is a avocado green base with a purple lid and gold handles. These storage units are excellent for storing small LEGO collections while providing portability.

Here are some of the available models:

Grab N’ Go Rack System with 2 Deep #2-3630′s and 1 #2-3650 -Avocado Base/Purple Lid/Gold Handle

It comes with Two Deep #2-3630′s and One #2-3650 Prolatch Utility Boxes and Bulk Top Storage. It has dimensions: 13.1 x 9.9 x 13.6 inches

Multi-Craft Rack System

This includes three 2-3650 and two 3449 utility boxes and a compartmentalized top access storage on lid and large bulk storage area. Its dimensions are 17-3/4-Inch (Length) x 9-3/4-Inch (Width) by 11-Inch (Height).

Creative Options Grab & Go Storage Box/Organizer

This includes four #2-3500′s Prolatch Utility Boxes and Bulk Top Storage. ITs dimensions are 11-Inch (Length) by 7-1/4-Inch (Width) by 10-Inch (Height)

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BrickEngineer: LEGO Design

LEGO Engineering for LEGO NXT and Robot Enthusiasts

KnuthLab LEGO Exploration Rover

DIY Arduino Circuit

2011 LEGO Best Sellers

Naughty Nestor is Bent on Destruction

Philo’s Extreme NXT Pages

A Catalog of Omni-directional or Holonomic Wheels for LEGO Robots

Colorful LEGO Storage Ideas

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