Building Robots With Lego Mindstorms book cover

Building Robots With Lego Mindstorms

Lego robots! Mindstorms are sweeping the world and fans need to learn how to programme them Lego Mindstorms are a new generation of Lego Robots that can be manipulated using microcomputers, light and touch sensors, an infrared transmitter and CD-ROMs. Since Lego launched Lego Mindstorms in late 1998 sales have skyrocketed - with no sign of slowing down. Mindstorms have captured the imagination of adults and children alike, creating a subculture of Mindstorm enthusiasts around the world. The kits are now a staple part of engineering and computer science classes at many high profile Universities.Building Robots with Lego Mindstorms provides readers with a fundamental understanding of the geometry, electronics, engineering, and programming required to build your own robots. Mario and Giulio Ferrari are world-renowned experts in the field of Lego Mindstorms robotics, and in this book they share their unrivaled knowledge and expertise of robotics as well as provide a series of chapters detailing how to design and build the most exotic robots. Mario and Giulio also give detailed explanations of how to integrate Lego Mindstorms kits with other Lego programmable bricks such asScout and Cybermaster, as well as with non-robotic Lego Technics models.

Audience
Anyone who owns a Mindstorms Robotic Invention Kit. Educational institutions interested in teaching Lego Mindstorms robotics in engineering classes

Paperback, 448 Pages

Published: December 2001

Imprint: Syngress

ISBN: 978-1-928994-67-1

Contents


  • Foreword

    Preface

    Part I Tools

    Chapter 1 Understanding LEGO® Geometry

    Introduction

    Expressing Sizes and Units

    Squaring the LEGO World:Vertical Bracing

    Tilting the LEGO World: Diagonal Bracing

    Expressing Horizontal Sizes and Units

    Bracing with Hinges

    Summary

    Chapter 2 Playing with Gears

    Introduction

    Counting Teeth

    Gearing Up and Down

    Riding That Train:The Geartrain

    Worming Your Way:The Worm Gear

    Limiting Strength with the Clutch Gear

    Placing and Fitting Gears

    Using Pulleys, Belts, and Chains

    Making a Difference:The Differential

    Summary

    Chapter 3 Controlling Motors

    Introduction

    Pacing,Trotting, and Galloping

    Mounting Motors

    Wiring Motors

    Controlling Power

    Coupling Motors

    Summary

    Chapter 4 Reading Sensors

    Introduction

    Touch Sensor

    Light Sensor

    Rotation Sensor

    Temperature Sensor

    Sensor Tips and Tricks

    Other Sensors

    Summary

    Chapter 5 Building Strategies

    Introduction

    Locking Layers

    Maximizing Modularity

    Loading the Structure

    Putting It All Together: Chassis, Modularity, and Load

    Summary

    Chapter 6 Programming the RCX

    Introduction

    What Is the RCX

    Using LEGO RCX Code

    Using the NQC Language

    Using Other Programming Languages

    Divide and Conquer: Keeping Your Code Organized

    Running Independent Tasks

    Summary

    Chapter 7 Playing Sounds and Music

    Introduction

    Communicating through Tones

    Playing Music

    Converting MIDI files

    Converting WAV Files

    Summary

    Chapter 8 Becoming Mobile

    Introduction

    Building a Simple Differential Drive

    Building a Dual Differential Drive

    Building a Skid-Steer Drive

    Building a Steering Drive

    Building a Tricycle Drive

    Building a Synchro Drive

    Other Configurations

    Summary

    Chapter 9 Expanding Your Options with Kits and Creative Solutions

    Introduction

    Acquiring More Parts

    Creating Custom Components

    Creative Solutions When More RCX Ports Are Needed

    Summary

    Chapter 10 Getting Pumped: Pneumatics

    Introduction

    Recalling Some Basic Science

    Pumps and Cylinders

    Controlling the Airflow

    Building Air Compressors

    Building a Pneumatic Engine

    Summary

    Chapter 11 Finding and Grabbing Objects

    Introduction

    Operating Hands and Grabbers

    Understanding Degrees of Freedom

    Finding Objects

    Summary

    Chapter 12 Doing the Math

    Introduction

    Multiplying and Dividing

    Averaging Data

    Using Interpolation

    Understanding Hysteresis

    Summary

    Chapter 13 Knowing Where You Are

    Introduction

    Choosing Internal or External Guidance

    Looking for Landmarks: Absolute Positioning

    Measuring Movement: Relative Positioning

    Summary

    Part II Projects

    Chapter 14 Classic Projects

    Introduction

    Exploring Your Room

    Following a Line

    Modeling Cars

    Summary

    Chapter 15 Building Robots That Walk

    Introduction

    The Theory behind Walking

    Building Legs

    Building a Four-Legged Robot

    Building a Six-Legged Steering Robot

    Designing Bipeds

    Summary

    Chapter 16 Unconventional Vehicles

    Introduction

    Creating Your Own SHRIMP

    Creating a Skier

    Creating Other Vehicles

    Summary

    Chapter 17 Robotic Animals

    Introduction

    Creating a Mouse

    Creating a Turtle

    Creating Other Animals

    Summary

    Chapter 18 Replicating Renowned Droids

    Introduction

    Building an R2-D2-Style Droid

    Building a Johnny Five-Style Droid

    Summary

    Chapter 19 Solving a Maze

    Introduction

    Finding the Way Out

    Building a Maze Runner

    Building a Maze Solver

    Summary

    Chapter 20 Board Games

    Introduction

    Playing Tic-Tac-Toe

    Playing Chess

    Playing Other Board Games

    Summary

    Chapter 21 Playing Musical Instruments

    Introduction

    Creating a Drummer

    Creating a Pianist

    Other Suggestions

    Summary

    Chapter 22 Electronic Games

    Introduction

    Creating a Pinball Machine

    Creating a Simon-Says Game

    Other Electronic Game Suggestions

    Summary

    Chapter 23 Drawing and Writing

    Introduction

    Creating a Logo Turtle

    Tape Writer

    Further Suggestions

    Summary

    Chapter 24 Simulating Flight

    Introduction

    Introducing the Forces Involved in Flight

    Designing the Simulator Project

    Building the Hardware

    Programming the Simulator

    Operating the Simulator

    Downsizing the Project

    Upsizing the Project

    Summary

    Chapter 25 Constructing Useful Stuff

    Introduction

    Building a Floor Sweeper

    Building a Milk Guard

    Building a Plant Sprinkler

    Designing Other Useful Robots

    Summary

    Part III Contests

    Chapter 26 Racing Against Time

    Introduction

    Hosting and Participating in Contests

    Optimizing Speed

    Combining Speed with Precision

    Summary

    Chapter 27 Hand-to-Hand Combat

    Introduction

    Building a Robotic Sumo

    Attack Strategies

    Getting Defensive

    Testing Your Sumo

    Summary

    Chapter 28 Searching for Precision

    Introduction

    Precise Positioning

    Finding and Collecting Things

    Playing Soccer

    Summary

    Chapter 28 Searching for Precision

    Introduction

    Precise Positioning

    Variations on Collecting

    Playing Soccer

    Summary

    Appendix A Resources

    Introduction

    Bibliography

    General Interest Sites

    Chapter 1 Understanding LEGO Geometry

    Chapter 2 Playing with Gears

    Chapter 3 Controlling Motors

    Chapter 4 Reading Sensors

    Chapter 5 Building Strategies

    Chapter 6 Programming the RCX

    Chapter 7 Playing Sounds and Music

    Chapter 8 Becoming Mobile

    Chapter 9 Expanding Your Options with Kits and Creative Solutions

    Chapter 10 Getting Pumped: Pneumatics

    Chapter 11 Finding and Grabbing Objects

    Chapter 12 Doing the Math

    Chapter 13 Knowing Where You Are

    Chapter 14 Classic Projects

    Chapter 15 Building Robots That Walk

    Chapter 16 Unconventional Vehicles

    Chapter 17 Robotic Animals

    Chapter 18 Replicating Renowned Droids

    Chapter 19 Solving a Maze

    Chapter 20 Board Games

    Chapter 21 Playing Musical Instruments

    Chapter 22 Electronic Games

    Chapter 23 Drawing and Writing

    Chapter 24 Simulating Flight

    Chapter 25 Building Useful Stuff

    Chapter 26 Racing Against Time

    Chapter 27 Hand-to-Hand Combat

    Chapter 28 Searching for Precision

    Appendix B Matching Distances

    Appendix C Note Frequencies

    Appendix D Math Cheat Sheet

    Sensors

    Averages

    Interpolation

    Gears,Wheels, and Navigation

    Index




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