Hi jiro - that tutorial that Brian mentioned and also the other 2 available here:
http://moi3d.com/1.0/docs/tutorials.htm
are probably the best place to start.
Although they are not specifically for robot construction, they give a beginning introduction to how MoI's basic tools work for constructing shapes. The same concepts that you learn from those tutorials should be applicable to building robots as well.
- Michael
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