RWTH - Mindstorms NXT Toolbox for MATLAB

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Welcome to the RWTH - Mindstorms NXT Toolbox for MATLAB®. This toolbox is developed to control LEGO® MINDSTORMS® NXT robots with MATLAB via a wireless Bluetooth connection or via USB. This software is a free open source product and is subject to the GNU GENERAL PUBLIC LICENSE (GPL). The development of the RWTH - Mindstorms NXT Toolbox was motivated by a RWTH Aachen University student project - MATLAB meets LEGO Mindstorms - for electrical engineering students and therefore designed mainly for education purposes.

The toolbox functions are based on the LEGO MINDSTORMS NXT Bluetooth Communication Protocol to control the intelligent NXT Brick via a wireless Bluetooth connection or via USB. Although a Bluetooth connection is not recommended for a real-time robot controlling in general (because of its high latency) this toolbox provides MATLAB functions to interact with a robot directly. Latencies via USB connections are much smaller and allow for more sophisticated applications.

The main advantage of this remote control concept enables you to combine robot applications with complex mathematical operations and visualizations within MATLAB. This toolbox opens unlimited possibilities to provide the robots artificial intelligence and other improvements using the manifold MATLAB features and calculations for digital signal processing.

(!) See The offical Mathworks support page for Lego Mindstorms

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MATLAB meets LEGO Mindstorms - First Semester Student Laboratory

The RWTH Aachen University first semester student laboratory - MATLAB meets LEGO Mindstorms - has been established since winter 2007 as a required course for Bachelor of Science students of Electrical Engineering, Information Technology and Technical Computer Science. In this lab the students learn how to use MATLAB for digital signal processing. Based on known mathematical basics the students perform signal measurements and analyse the characteristics of the different LEGO Mindstorms NXT actors and sensors in the first half of the project. In the second half they are motivated to develop and program their own robots. As the pictures below illustrates a first impression, the individual and creative ideas of the students for their robots e.g. maze solver, morse en- and decoder and scanner robots, are unlimited. In winter 2008 over 380 students and 80 supervisors participated in this project and developed and programmed 200 robots based on the RWTH - Mindstorms NXT Toolbox for MATLAB.

For more information please visit the project page or contact the organisators at the Institute of Imaging & Computer Vision -


Project members: Organisation:
Oliver Rippel Oliver.Rippel(at) Prof. Dorit Merhof
Martin Staas martin.staas(at)
Linus Atorf linus.atorf(at) Faculty:
Rainer Schnitzler rsch(at) Prof. Til Aach (†), Prof. Tobias G. Noll
Alexander Behrens behrens(at)
Achim Knepper knepper(at) Testing:
Thomas Herold herold(at) Marian Walter
Former members:
Aulis Telle telle(at) Project Server Administration:
Johannes Ballé balle(at) Daniel Brückner
Robert Schwann schwann(at)
André Bell (bell(at)
Axel Cordes

Laurent Vaylet, Vital van Reeven, Bernd Neumann, Yvonne Nix, Sacha Franssen, Florian Schröder, Stefan Schürmans, Michele McColgan, Nick Watts, Paul Hollensen

Octave Development:
Andrew Gee, Patrick Gosling

Most contributors are members of the RWTH Aachen University -


The RWTH - Mindstorms NXT Toolbox is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

The RWTH - Mindstorms NXT Toolbox is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with the RWTH - Mindstorms NXT Toolbox. If not, see <>.

Disclaimer: This site is neither affiliated with nor endorsed by the LEGO Group. LEGO, MINDSTORMS, TECHNIC, and NXT are registered trademarks of the LEGO Group.

Last modified 9 months ago Last modified on Sep 18, 2019, 9:56:55 AM