NXTAVATAR is a Tele-presence robot. It is build with LEGO®MINDSTORMS®

It is developed to make it possible for kids around the globe to play with each other in a new interactive way. Therefore it uses Skipe® to connect the kids with each other. It is designed to handle latency/disruption of the video connection as good as possible.

 
 
 

 It Features:
- Remote control using the internet
- Face to face interaction
- Full audio & video communication
- Moves forward & backward
- Turns left & right
- Looks up & down
- Gets & drops small objects

 

You can download building instructions & NXTAVATAR programs at the download page

You can easily adjust the robot and programs to fit your own demands.

 
Have fun!

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Building is easy

All you need is:
- LEGO®MINDSTORMS® 2.0 set
- iPhone® 4 (or other Smartphone) with Skype® installed
- Windows PC with Skype® installed
- 2 Skype ® accounts
- 2 NXTAVATAR programs (which are open source)


Step 1
Download the xml buildingguide from the website. Build your NXTAVATAR. 

Step 2
Download the nxt_main file and unzip it in your MINDSTORMS default profile directory.
Download the my_blocks file and unzip it in the my blocks directory (default profile\blocks\myblocks).
Connect the NXT brick to your PC and start MINDSTORMS. Load nxtavatar01. Compile it and it will be present in your NXT brick.

Step 3
Download the nxtavatar.zip file. Unzip it where  you like. Run setup (if dotnetframework is not installed on your PC it will get from the internet). Run nxtavatar.exe. Two screens will appear. Doubleclick your webcam in the listbox. After a while your cam video is shown in the same window.

Step 4
Start Skype on your PC with your first account. Start Skype on your iPhone with your second account. Videocall from your iPhone your first account on your PC. Answer the call on your PC with call (not with videocall). Select screensharing on your (PC)Skipe. Select the window with your PC cam video. Now you are all set to start the Robot. 

Your screen on the PC should look like this:

Your iPhone screen should look like the red box above.


Step 5
Select nxtavatar01 on the NXT brick and place the iPhone in its holder.  Run the program on the NXT. 
It will say "spike stop" then press the stop button on the PC nxtavatar controls window. Then press the touchsensor on the robot. 
After a beep the robot says "spike forward" , then press the forward button on the PC nxtavatar controls window. Then press the left touchsensor on the robot. 
After a beep the robot says "spike right" , then press the right button on the PC nxtavatar controls window. Then press the left touchsensor on the robot. 
After a beep the robot says "spike left" , then press the left button on the PC nxtavatar controls window. Then press the left touchsensor on the robot. 
Now your lightsensor has been calibrated.
After a beep the robot says "point stop" , then press the stop button on the PC nxtavatar controls window. Then press the touchsensor on the robot. 
Than the robot says "sound". Then keep pressing the left touchsensor on the robot, until your here "sound" loud enough. Then release the touchsensor. Now the soundlevel of the robot has been set.
The robot will immediately start resetting it's rotation level. When it has done so. It will say "start".
You are now ready to roll...

 

 

 



Controlling your NXTAVATAR

MOVE FORWARD
Mouseclick on the forward button
on the control window on the PC.
When the previous clicked button
was not the FORWARD button. the display
shows FORWARD, but the robot does
not move yet. The side 
buttons are LEFT and RIGHT.
When you don't click another button the
robot will start to move forward gently. But every second it's speed will increase untill it reaches100%. See window below:


However if the robot is in a bending state, the robot will move only 5 mm per second. This is done to be able to grab a small object with it's arm.

TURN RIGHT or LEFT
Mouseclick on the left or right button
on the control window on the PC. When these  buttons are not visible: Mouseclick forward to show them.
After one off them is mouseclicked, the robot (stops first when moving) spins 15 degrees per second in the clicked direction until another button is clicked.
However if the robot is in a bending state, the robot will spin only 5 degrees per second. This is done to be able to grab a small object with it's arm.

MOVE BACKWARD
Mouseclick on the backward button
on the control window on the PC. When the backward button is not visible: Mouseclick stop to show it. 
After it is mouseclicked, the robot moves slow 5 cm backwards per second until another button is clicked.



STOP
Mouseclick on the stop button
on the control window on the PC. 
After it is mouseclicked, the robot stops moving.

ROTATE (BENDING)
Mouseclick on the rotate button
on the control window on the PC. When the rotate button is not visible: Mouseclick stop to show it. 
After it is mouseclicked, the robot bends until its arm is pressed on the floor and than its starts to get upright. And when it is upright it bends again etc. until another button is clicked.

GRABBING and DROPPING small objects
This is not easy and demands practice.
To grab a object: bend the robot. Its fist will open. Move forward to get the object between the two fingers. Than rotate to upright position. Its fist will close and will lift & hold the object.
To drop a object: bend the robot and move backward.