Jin Sato's LEGO MINDSTORMS

Jin Sato's LEGO MINDSTORMS
The Master's Technique
by 
Jin Sato
April 2002, 434 pp.
ISBN-13: 
978-1-886411-56-2
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$24.95

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The LEGO® MINDSTORMS robotics kits make it easy and fun to build working robots with LEGO bricks, motors, and a programmable controller. In his landmark book, Jin Sato introduces the basic principles of robotics engineering, including how to plan and build robots with tires, legs, and grasping hands. Readers even learn how to build Sato's famous robotic dog MIBO as well as four other robots. Includes a parts list for the robots and coverage of the programming environment, assembly drawings, and maintenance of robots.

Source Code and Programs: Chapter 14 Visual Basic program

Author Bio 

Jin Sato has been an engineer for over 25 years, and currently works as a software researcher. He has written two previous books on LEGO MINDSTORMS. Born in Japan, Sato now lives in Ottawa, Canada.

Table of contents 

PART I: LEGO BRICKS AND BUILDING BASICS

Chapter 1
Basic Brick Assembly
Brick Basics
Basic Building Techniques
Working with Motors and Gears
Combining Beams and TECHNIC Plates with Holes
Combining TECHNIC Pins, Beams, and Liftarms
Diagonal Joining Techniques
Joining Diagonal Assemblies Vertically
Summary

Chapter 2
Motors
Motors You Can Use with the RIS
The RIS Motor
Summary

Chapter 3
Gears
The LEGO Gears
Gears Included in the RIS
Gears Not Included in the RIS
Other Parts Used with Gears
Experimenting with Gears: Preparations
Assembly Instructions: Building the Gear Testing Assembly
Experimenting with Flat-tooth Gears
Assembly Instructions: Experimenting with Gears
Rotation Direction
Torque
Gear Ratio
Backlash
Changing the Direction of Rotation
Assembly Instructions: Experimenting with the Bevel Gear
Experimenting with the Bevel Gears
Gear Combinations
Summary

Chapter 4
Sensors and the RCX
Sensors
Electric Touch Sensor Brick
Electric Light Sensor
Electric Rotation Sensor
Electric Temperature Sensor
The RCX
The RCX's Internal Circuit Board
Positioning the RCX
Robotics Discovery Set and Droid Developer Kit: Alternatives to the RCX
Summary

PART II: SOFTWARE

Chapter 5
RCX Software Fundamentals
Software Architecture
Level 0
Level 1
Level 2
Level 3
Standard Firmware
User Firmware
Summary

Chapter 6
RCX Code 2.0
Programming Operations
Controlling the Motor
Looping
Tasks
Sensors
Using a Sensor to Branch a Program
Event-Driven Program
Variables
Subroutines
Summary

Chapter 7
ROBOLAB 2.0
ROBOLAB Versions
The ROBOLAB Program Screen
ROBOLAB Programs
Controlling the Motor
Looping
Tasks
Sensors
Using a Sensor to Branch a Program
Using a Sensor to Create an Event-Driven Program
Variables
Subroutines
Compile Errors
Summary

Chapter 8
NQC and the RCX Command Center
About NQC
About the RCX Command Center
Download and Install the Programs
NQC Programs with RcxCC
NQC Tasks
Controlling the Motor
Looping
Tasks
Sensors
Using a Sensor to Branch a Program
Using a Sensor to Create an Event-Driven Program
Variables
Subroutines
Compile Errors
Summary

Chapter 9
legOS
Download and Install legOS and Related Software
Install Cygwin
Install the Cross-Compiler
Set Up the Bash Shell
Install legOS
Build legOS
Confirm legOS Is Working
Compile and Transfer Your Own Programs
legOS Program Examples
Controlling the Motor
Looping
Tasks
Sensors
Using a Sensor to Branch a Program
Variables
Debugging
Further Possibilities
Summary

Chapter 10
Third-Party Programs that Let You Control the RCX
The USB Tower
Installing and Using VLL
RCX Byte Code
Byte Code Attributes
Byte Code Transfer Format
Sample Program
Tower Programming Compared
Timeout
Serial Tower Echo
Reception Timing
Summary

PART III: CREATING ROBOTS

Chapter 11
Robots that Use Tires
Assembly Instructions: Tire Robot #1
Making the Robot Walk "Randomly"
Random Walk Program (RCX Code 1.5)
Random Walk Program (RCX Code 2.0)
Adding Feelers
Build the Feelers
Program the Feelers
Adding Eyes
Program the RCX to Follow a Black Line
Two Methods in RCX Code 1.5
Two Methods in RCX Code 2.0
Program Alternatives
Improving Your Robot

Chapter 12
Building Multi-Legged Robots
Center of Gravity
Six-Legged Walking Robot
Assembly Instructions
Program, Feelers, and Eyes

Chapter 13
Multi-Legged Robots that Can Turn
Two Ways to Change Direction on the Spot
Two Ways to Change Direction While Moving Forward
Mushi Mushi #5
Assembly Instructions
How Does Mushi Mushi #5 Move Forward?
How the Middle Leg Moves
Controlling the Left and Right Legs
The Feeler Assembly
Further Experiments
The Mushi Mushi #5 Program
Program for RCX Code 1.5
Program for RCX Code 2.0
Troubleshooting
Design Tips: Walking Robots

Chapter 14
Robot with a Grabbing Hand
The Theory
Using the RCX's Weight to Balance the Arm
Maintaining Position
The Hand and Wrist
Using Ribbed Tubing to Extend the Rotating Axle
Arm Joint
Building a Turntable
Assembly Instructions
Build the Arm Joint and Fingers
Build and Attach the Turntable
Build the Arm
Attach the Motor, Wrist, and Fingers
Build the Base
Controlling Robot Arm #3
Visual Basic Program
The Robot Arm Controller Screen
Explanation of the Program
Going Farther

Chapter 15
The Birth of MIBO
Using Two RCXs
Plan 1
Plan 2
MIBO Fundamentals
Making MIBO Walk
Making MIBO Sit
Parts List
MIBO Assembly Instructions
Build One Hip and Shoulder
Build the Knee and Shoulder Controls
Build the Legs and Feet
Build the Second Side of Torso
Build the Neck
Build the Head
MIBO's Wiring
Collecting MIBO's Parts
Programming MIBO
Moving the Hind Legs: Explanation of Listing 1
Transporting MIBO
After MIBO

Chapter 16
Handy Construction Tricks
Securing the RCX Vertically
Combining Gears
Reinforcing Caterpillar Tread Axles
Using Wheels to Build an Object with Radiating Spokes
Magnetic Clutch
Using the Three-Blade Rotor

PART 4: LEGO CAD SOFTWARE

Chapter 17
MLCad
Prerequisites
Downloading
The MLCad Screen
Creating a Diagram
Getting Started
Using Subfiles
Copying and Pasting Objects
Rotating Parts
MLCad Tips
Work from a Physical LEGO Model
Use Wireframe Mode to Speed Up Display Time
Oblique Connections
Subfiles
Using Gears
Using a Part Repeatedly
Entering Comments in the Configuration List
Grouping Configuration List Entries
Changing the Color of Multiple Elements at One Time
Summary

Chapter 18
L3P and L3PAO
L3PAO: Graphical Interface to L3P
Basic L3P Options
Placing the Camera
Placing Lights
Enhancing Your Models
Outputting and Saving Files
Summary

Chapter 19
POV-Ray
Installing POV-Ray
Basic Procedure
Selecting a Resolution
Creating Custom Resolutions
Saving an Image
Adding Textures with an Include File
Summary

Chapter 20
Creating Assembly Diagrams
Required Software and Data
Assembly Diagram Example
Procedure for Creating Assembly Diagrams
Step 1: Creating the Substep Images
Step 2: Determining the Number of Substeps
Step 3: Creating the Completed Image
Step 4: Creating a Parts List for an Individual Page
Step 5: Combining Various Images
Summary

Chapter 21
Collecting, Organizing, and Cleaning Parts
Colors
Types of Parts
Cost of Parts
Collecting Specific Parts
Organizing Parts
The Storage Case
Classification
Using Palettes when Building
Cleaning Your Parts
How to Wash LEGO Parts

Appendix A
Byte Code Commands

Appendix B
Robot Arm Controller Source Code

Reviews 

"Every LEGO Mindstorms enthusiast should have this book next to their LEGO storage bin."
– Slashdot

"Jin Sato's superbly presented, deftly written, 364 pages instructional guide is an essential reference for all dedicated LEGO hobbyists."
– The Midwest Book Review

". . . a readable, 364-pg book, smoothly translated from Japanese."
– EDN Magazine

". . . starts with some hardware and software basics and continues with several advanced projects with piece-by-piece assembly instructions."
– Desktop Engineer

". . . a brilliant starting point for anyone wanting to dive into this exciting area."
– STUDIOWHIZ.COM

"Sato's examples are exceptionally clear. Recommended for all libraries."
– LIBRARY JOURNAL