Lego NXT Mindstorms X-2/ SC

Early testing of my latest X-2 SC Biped stair climbing robot made from Lego. Right now it is in early mechanical testing for function, movment in PF/RC mode. I have only one PF control unit to control the seven motors is a bit of a pain, but since the plan is to get this in NXT autonomous mode this will do for testing.
X-2 SC is filmed to show a Lego Biped can climb a step. The step is 1.5 inches in tall. I have made a 3 inch step as well, will film that later on.
Specs:
7-DOF
4 XL-PF
3 SM-PF
Each articulation is geared through two large turn-tables. Each LTT has 4 8 Tooth gears, so each articulation has 8 8 tooth gears total. These are driven by 4 40 toothgears, they are powered by 5 8 tooth gears in a Planetary configuration. 6 total articultaion all built on the same design. Balance is by slidding track gears to shift the weight to the needed points.

As far as I know this is a First for Lego Biped's to climb a step.

Category:

Science & Technology

Tags:

• Lego
• NXT
• Mindstorms
• Biped
• Robot

[Ryushinji]

This Is the best biped robot vid I 've found on youtube!! And its walking up stairs!! n_n

I have A question.... not that you needed to speed it up.. its just that I'm trying to get a feel on the limits of mindstorm... How fast could you make your robot move in general?

[222Doc]

Been rather busy so this has yet to be finished(programing for autonomous). In this film it is geing controled by remote control. In remote control i am making it move by joy stick/s. This in its self takes time, well more time than if it was doing it by its self. So i would guess that when it is autonomous it would be able to do this at least 2x faster. Limits to the Lego mindstorms is rather hard to point at since so many seem to get more out of it everyday.

[Conchinhas]

Hi,

is there any kind of auto-sensing (balancing) functions in there, or are the movements pre-programed or remotely controlled?

Impressive, whatever the case is!

[222Doc]

this film and the other "Sumersault", it is all controlled by PF/IR remote. I am in to process of programing it for autonomous ability. It will be 2nxt and PF/IR to NXT to get the 7DOF. As for sensor's if the intial programs go well I would like to add two touch sensors in the feet to feel foot touchdown. Also i would like to add a Gyro to the weight shift head that moves left to right. I have made a Lightsensor rotational control for the PF/IR nxt it knows how far it can travel left or right.

[222Doc]

Hello, yes i am still active just not as much. Was just testing X2 and the step seen here is two inches not 1.5(thanks to my son that pointed out this error) so we tested it on a 4 inch step and it worked. X2 is 18 inches tall, so that is a good ratio of .22 of its height almost 1/4. If you think about that a 6foot man would have to step up almost a 16 inch step, steps are about 6-8 inches in most cases. so the 2 inch step is to scale, well close.

[philfromcharlotte]

sounds like someone needs to change the batteries in the smoke detector, it is chirping

[XigbarGHmaster]

U r the king of Lego, it's better than watching a baby taking it's first steps

[AidanHockey34]

i have one word for you..

"YES!"

it has been sometime that you or i have made a project, but this...is fantastic!

X2 LIVES!! :D!!

[thecozmiester]

cool that is soo awsome

wow cool

[Scorge120]

O.O

Impressive!

One small step for man, one huge step for LEGO...