LEGO Mindstorms NXT Stair Climbing Robot

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After seeing this LEGO Mindstorms EV3, Stair Climbing Robot on ‘The NEXT Step Blog‘, I decided to build my own NXT Version. I had attempted a couple before several years ago, but they weren’t overly successful. Now with lots of IMU Sensor add-ons for the Mindstorms NXT, it makes the task a lot easier.

StairClimber

A IMU or ‘Inertial Measurement Unit‘ is an electronic device that measures and reports on a craft’s velocity, orientation, and gravitational forces, using a combination of accelerometers and gyroscopes, sometimes also magnetometers.

CruizCore XG1300L

An IMU works by detecting the current rate of acceleration using one or more accelerometers, and detects changes in rotational attributes like pitch, roll and yaw using one or more gyroscopes.

Dexter Industries, Mindsensors, and MicroInfinity produce IMU’s for the LEGO Mindstorms NXT kit. My favourite is the MicroInfinity CruizCore® XG1300L.

StairClimber

My Stair Climber uses 4x NXT Motors. 2x connected in parallel drive the front two wheels. Another supplies the drive to the pair of small wheels at the rear.

The fourth NXT Motor drives the Lifting Mechanism that moves the rear pair of wheel up and down relative to the rest of the chassis. This is done via a gear rack mechanism which can be seen at the rear of the Robot.

StairClimber

When the Robot is started, it goes through initialization of the CruizCore® XG1300L. Once completed the NXT Display shows data readings from the CruizCore® XG1300L Gyroscope in a graphical format for ease of viewing. The images below show some screenshots from the NXT Screen.

Stair Climber Screen Grabs

The Robot then moves off waiting for a stair step to be located via a NXT Sonar Sensor. The Robot slows, and the front wheels begin to climb the step. Once the front wheels are at the top of the step it stops.

Image

The Gyroscope produces a reading in degrees of the amount of incline the Robot is at. The Robot’s chassis is then raised to a point where the Gyroscope reads Zero Degrees again. At this point the chassis should be level.

Image

The Robot then moves forward until the Robot’s large rear wheels are on the step as well before then raising the small rear wheels back up to chassis level. Then Robot then drives off too encounter the next step…

NXC Source Code: NXT-StairClimber.c

 

 

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2 Responses to LEGO Mindstorms NXT Stair Climbing Robot

  1. Jaswinderjeet Dhillon says:

    how do u build this thing!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

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