{"id":2100,"date":"2026-10-27T11:19:40","date_gmt":"2026-10-27T10:19:40","guid":{"rendered":"https:\/\/au.feri.um.si\/losdv\/projekti\/dvokolesni-robot\/"},"modified":"2026-11-06T11:20:53","modified_gmt":"2026-11-06T10:20:53","slug":"dvokolesni-robot","status":"publish","type":"page","link":"https:\/\/au.feri.um.si\/losdv\/en\/projekti\/dvokolesni-robot\/","title":{"rendered":"Agile two-wheeled robot"},"content":{"rendered":"<section class=\"wp-block-group alignfull au-section au-section--dark au-projhero is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-group au-container is-layout-flow wp-block-group-is-layout-flow\">\n<p class=\"au-back wp-block-paragraph\"><a href=\"\/losdv\/en\/#iz-nasega-dela\">\u2190 Projects and theses<\/a><\/p>\n\n\n<p class=\"au-eyebrow wp-block-paragraph\">01.8 \u00b7 Master's thesis \u00b7 2025<\/p>\n\n\n<h1 class=\"wp-block-heading\">Agile two-wheeled robot<\/h1>\n\n\n<p class=\"au-lead wp-block-paragraph\">The robot balances itself, drives over uneven terrain and overcomes obstacles.<\/p>\n\n\n<figure class=\"video-box au-projvideo\"><video controls preload=\"metadata\" playsinline poster=\"\/losdv\/wp-content\/uploads\/sites\/4\/2026\/11\/dvokolesni-robot-skok-poster.jpg\"><source src=\"\/losdv\/wp-content\/uploads\/sites\/4\/2026\/11\/dvokolesni-robot-skok.mp4\" type=\"video\/mp4\"><\/video><figcaption>Video \u00b7 jumping and driving of the self-balancing robot<\/figcaption><\/figure>\n\n\n\n<p class=\"au-textlink wp-block-paragraph\"><a href=\"https:\/\/www.youtube.com\/watch?v=jDfoWOe9dj4\" target=\"_blank\" rel=\"noopener\">Video on YouTube \u2197<\/a><\/p>\n<\/div>\n<\/section>\n\n\n\n<section class=\"wp-block-group alignfull au-section is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-group au-container is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-columns au-projbody is-layout-flex wp-container-core-columns-is-layout-89c98654 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:60%\">\n<h2 class=\"wp-block-heading\">About the project<\/h2>\n\n\n<p class=\"wp-block-paragraph\">The robot balances itself, drives over uneven terrain and overcomes obstacles. An LQI controller on an STM32 microcontroller keeps it balanced, and a movable upper body allows fast manoeuvres.<\/p>\n\n\n<p class=\"wp-block-paragraph\">A two-wheeled robot is inherently unstable \u2013 much like an inverted pendulum. Without constant action by the controller it would topple over, so the controller has to measure and correct the tilt many times a second.<\/p>\n\n\n<h2 class=\"wp-block-heading\">How it works<\/h2>\n\n\n<ol class=\"wp-block-list au-steps\">\n<li><strong>Sensors<\/strong> measure the body tilt and the motion of the wheels.<\/li>\n\n\n<li><strong>The LQI controller<\/strong> (linear-quadratic controller with an integral term) on an STM32 microcontroller computes the motor torque that keeps the robot upright and eliminates the steady-state error.<\/li>\n\n\n<li><strong>The movable upper body<\/strong> shifts the centre of gravity and lets the robot make fast manoeuvres and overcome obstacles.<\/li>\n<\/ol>\n<\/div>\n\n\n<div class=\"wp-block-column au-facts is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:40%\">\n<figure class=\"wp-block-table au-facts__table\"><table class=\"has-fixed-layout\"><tbody><tr><td>Type<\/td><td>Master's thesis<\/td><\/tr><tr><td>Year<\/td><td>2025<\/td><\/tr><tr><td>Field<\/td><td>Remote control \u00b7 Robotics<\/td><\/tr><tr><td>Control<\/td><td>LQI<\/td><\/tr><tr><td>Controller<\/td><td>STM32<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n<figure data-wp-context=\"{&quot;imageId&quot;:&quot;6aef853643eda&quot;}\" data-wp-interactive=\"core\/image\" data-wp-key=\"6aef853643eda\" class=\"wp-block-image size-full wp-lightbox-container\"><img decoding=\"async\" data-wp-class--hide=\"state.isContentHidden\" data-wp-class--show=\"state.isContentVisible\" data-wp-init=\"callbacks.setButtonStyles\" data-wp-on--click=\"actions.showLightbox\" data-wp-on--load=\"callbacks.setButtonStyles\" data-wp-on--pointerdown=\"actions.preloadImage\" data-wp-on--pointerenter=\"actions.preloadImageWithDelay\" data-wp-on--pointerleave=\"actions.cancelPreload\" data-wp-on-window--resize=\"callbacks.setButtonStyles\" src=\"\/losdv\/wp-content\/uploads\/sites\/4\/2026\/07\/diplome3.png\" alt=\"Agilni dvokolesni robot\"\/><button\n\t\t\tclass=\"lightbox-trigger\"\n\t\t\ttype=\"button\"\n\t\t\taria-haspopup=\"dialog\"\n\t\t\tdata-wp-bind--aria-label=\"state.thisImage.triggerButtonAriaLabel\"\n\t\t\tdata-wp-init=\"callbacks.initTriggerButton\"\n\t\t\tdata-wp-on--click=\"actions.showLightbox\"\n\t\t\tdata-wp-style--right=\"state.thisImage.buttonRight\"\n\t\t\tdata-wp-style--top=\"state.thisImage.buttonTop\"\n\t\t>\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"12\" height=\"12\" fill=\"none\" viewbox=\"0 0 12 12\">\n\t\t\t\t<path fill=\"#fff\" d=\"M2 0a2 2 0 0 0-2 2v2h1.5V2a.5.5 0 0 1 .5-.5h2V0H2Zm2 10.5H2a.5.5 0 0 1-.5-.5V8H0v2a2 2 0 0 0 2 2h2v-1.5ZM8 12v-1.5h2a.5.5 0 0 0 .5-.5V8H12v2a2 2 0 0 1-2 2H8Zm2-12a2 2 0 0 1 2 2v2h-1.5V2a.5.5 0 0 0-.5-.5H8V0h2Z\" \/>\n\t\t\t<\/svg>\n\t\t<\/button><\/figure>\n\n\n<p class=\"au-textlink wp-block-paragraph\"><a href=\"https:\/\/dk.um.si\/IzpisGradiva.php?id=94670\" target=\"_blank\" rel=\"noreferrer noopener\">Read in DKUM \u2197<\/a><\/p>\n<\/div>\n<\/div>\n\n\n<div class=\"wp-block-group au-projnav is-layout-flow wp-block-group-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><a href=\"\/losdv\/en\/projekti\/pegasti-sum-sar\/\"><span>\u2190 Previous<\/span>Removing speckle noise from SAR images<\/a><\/p>\n\n\n<p class=\"wp-block-paragraph\"><a href=\"\/losdv\/en\/projekti\/raketa-pristanek\/\"><span>Next \u2192<\/span>A rocket that lands by itself<\/a><\/p>\n<\/div>\n<\/div>\n<\/section>","protected":false},"excerpt":{"rendered":"<p>\u2190 Projekti in zaklju\u010dna dela 01.8 \u00b7 Magistrsko delo \u00b7 2025 Agilni dvokolesni robot Robot se sam uravnote\u017ei, vozi po neravnem terenu in premaguje ovire. Video \u00b7 skok in vo\u017enja samouravnote\u017eujo\u010dega robota Video na YouTubu \u2197 O projektu Robot se sam uravnote\u017ei, vozi po neravnem terenu in premaguje ovire. Za ravnote\u017eje skrbi regulator LQI na [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":2098,"menu_order":8,"comment_status":"closed","ping_status":"closed","template":"page-brez-naslova","meta":{"footnotes":""},"class_list":["post-2100","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages\/2100","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/comments?post=2100"}],"version-history":[{"count":3,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages\/2100\/revisions"}],"predecessor-version":[{"id":2148,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages\/2100\/revisions\/2148"}],"up":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/pages\/2098"}],"wp:attachment":[{"href":"https:\/\/au.feri.um.si\/losdv\/en\/wp-json\/wp\/v2\/media?parent=2100"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}