MOCpages : Share your LEGO® creations
LEGO models my own creation MOCpages toys shop AgilisRobotics
Welcome to the world's greatest LEGO fan community!
Explore cool creations, share your own, and have lots of fun together.  ~  It's all free!
Rate it  12345       Add a comment Add a comment   Zoom in  Zoom in
Agilis, a fast and smooth moving omniwheel NXT robot.
About this creation
Agilis is the most agile NXT robot. It features a triangular frame and three powered omniwheels from Rotacaster. Each wheel is driven by a NXT motor via a gear train. This gear train can be configured to have a 1:2 or 1:3.333 gear ratio. This gives Agilis a top speed of 60 or 99 cm/sec.
Agilis has advanced software for motion control. It is able to make complex movements like driving in a straight line while rotating. It is also able to make smooth transitions between different movements. I created some video's that show the abilities of this robot. Thanks to the advanced motion control the movements of Agilis are also very precise. Tests show that Agilis is able to return within 6 cm of its starting position after driving a 16 meter course.

A close up of the gear train configured with a 1:2 gear ratio.

Video showing some of the complex movements Agilis can make. A move is made up of two independent parts, a movement in the XY-plane and a rotation around the Z-axis. By combining these two components one can create almost any move one can think of. Like driving in a straight line (XY-plane) while rotating (Z-axis).

Video showing Agilis equiped with some dLights from DexterIndistries. There are three lights, one pointing to each of the wheels. The color of each light is related to the speed of the corresponding wheel.

Video showing action blending. This is a technique for making smooth transitions between motions. With action blending consecutive moves, or actions, are mixed into each other just like a dee-jay mixes misic tracks. As a result there are no more sudden accelerations, this makes the movements much smoother and also increases the accuracy of the movements.

I explain motion control in more detail in several blog posts on my blog. The explanation starts withthis post.


  May 13, 2013
I like how you buit the frame. Its not easy to make a triagonal shape with technic
By Aswin Bouwmeester
Add to my favorite builders

1,760 visitors
1 comment
Added April 27, 2013
 You are at the beginning of this folder.  You are at the end of this folder.
More from Aswin
More across MOCpages
Wot-NXT: DottyWot & SpottyWot?  You are at the end of this group.

LEGO models my own creation MOCpages toys shop AgilisRobotics

You Your home page | LEGO creations | Favorite builders
Activity Activity | Comments | Creations
Explore Explore | Recent | Groups
MOCpages is an unofficial, fan-created website. LEGO® and the brick configuration are property of The LEGO Group, which does not sponsor, own, or endorse this site.
©2002-2018 Sean Kenney Design Inc | Privacy policy | Terms of use