How do you ask people to go somewhere with you?

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In my robotics class, I have a really cool lab partner. He is interesting to talk to, and we build robots together. I'd really like to know him than just beyond the classroom. I have his email and everything, but the only problem is I never did anything like this, but he's the best person I know. We are both seniors, we both aren't that social, and we love robots/technology. Is there any easy way to ask him if he'd like to come over my house or I come over his? If he accepts, what should we do? The school counselor is super supportive of this. His mom and my parents are too. I just don't know how to ask properly.

Can either of you build stuff at home?
I have a friend like that and we talk about and also go build cooler stuff
than they did in class, at each other's houses.
Which of you's got your own tools/soldering iron or construction set
or toys to take apart to make robots out of?

Google sites like these for stuff to think and talk about making robots out of:
Parallax.com
("basic stamp", "boe-bot")
Electronic Goldmine
Kelvin.com
American Science and Surplus
Herbach and Rademan
All Electronics
Fischertechnik.com

also maybe Radio Shack or Fry's and a hardware store
and don't forget really old computers and printers and scanners and mouse
also have motors and stuff in them for free when people throw them away.

How about...

"Y'wanna come over?"

"We're having ________ for supper tonight. Y'want some?"

"Think yer folks would mind if I drop by?"

Keep it short, simple, and to the point; that's all.

A bunch of ways.

First find something that you are both interested in and say like "yo, I've got this "whatever" you wanna see" or, if you like tinkering, ask them if they want to work on something at your house. Just find your interests and go with it.

Try to talk about things other than just your club. I am sure that your will find you share at least some other interest. (secrect is, most people do, on some level. this is how small talk is made. everyone experiences the same things on some level. even if its just the weather or traffic)

Always invite a person to come over to your place. Never ask to be invited. (coming from an NT here so, yeah)

cant you just ask if he wants to hang out at your house? I don't really understand how to do this either so I'm probably not that big of a help to you.

Come with me or the puppy dies.