Terrapin Logo supports robotics with built-in commands for Lego’s RCX and NXT robotic controllers. Use Terrapin Logo to start and stop motors, read and react to switches and sensors, and control and integrate your robotic constructions into your Logo environment.
So i got in touch with the Terrapin team to get an evaluation version. I will write about my experiences with Terrapin Logo here. Until then, have a look at the Homepage and also take a look at the Pro-Bot Robot, a Logo-integrated Robot.