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I'm currently developing a Lego Robot, the mindstorm series to be specific. I want to replace the lego NXT brick with an arduino, maybe an intel galileo in the future. How do I establish connections from the arduino with the lego sensors? Also, I would like some input on any cool features that I can add to this robot. This robot is to be seen as a human companion. Thanks in advance.

An example of a sensor i would like to use is here : http://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NIS1070

How do I interface this with an arduino?

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Doing a quick search on google you can find a couple of shields designed for that purpose:

Second one is allows less motor connections but it's cheaper and has a book written by the designers

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