{"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\/projekti\/dvokolesni-robot\/","title":{"rendered":"Agilni dvokolesni robot"},"content":{"rendered":"\n<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\/#iz-nasega-dela\">\u2190 Projekti in zaklju\u010dna dela<\/a><\/p>\n\n\n<p class=\"au-eyebrow wp-block-paragraph\">01.8 \u00b7 Magistrsko delo \u00b7 2025<\/p>\n\n\n<h1 class=\"wp-block-heading\">Agilni dvokolesni robot<\/h1>\n\n\n<p class=\"au-lead wp-block-paragraph\">Robot se sam uravnote\u017ei, vozi po neravnem terenu in premaguje ovire.<\/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 skok in vo\u017enja samouravnote\u017eujo\u010dega robota<\/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 na YouTubu \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\">O projektu<\/h2>\n\n\n<p class=\"wp-block-paragraph\">Robot se sam uravnote\u017ei, vozi po neravnem terenu in premaguje ovire. Za ravnote\u017eje skrbi regulator LQI na mikrokrmilniku STM32, gibljivi zgornji trup pa mu omogo\u010da hitre manevre.<\/p>\n\n\n<p class=\"wp-block-paragraph\">Dvokolesni robot je po naravi nestabilen sistem \u2013 podobno kot obrnjeno nihalo. Brez stalnega delovanja regulatorja bi se prevrnil, zato mora krmilnik nagib meriti in popravljati ve\u010dkrat na sekundo.<\/p>\n\n\n<h2 class=\"wp-block-heading\">Kako deluje<\/h2>\n\n\n<ol class=\"wp-block-list au-steps\">\n<li><strong>Senzorji<\/strong> merijo nagib trupa in gibanje koles.<\/li>\n\n\n<li><strong>Regulator LQI<\/strong> (linearno-kvadrati\u010dni regulator z integralnim delom) na mikrokrmilniku STM32 izra\u010duna navor motorjev, ki robota dr\u017ei pokonci in odpravi stacionarni pogre\u0161ek.<\/li>\n\n\n<li><strong>Gibljivi zgornji trup<\/strong> premika te\u017ei\u0161\u010de in robotu omogo\u010da hitre manevre ter premagovanje ovir.<\/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>Vrsta<\/td><td>Magistrsko delo<\/td><\/tr><tr><td>Leto<\/td><td>2025<\/td><\/tr><tr><td>Podro\u010dje<\/td><td>Daljinsko vodenje \u00b7 Robotika<\/td><\/tr><tr><td>Regulacija<\/td><td>LQI<\/td><\/tr><tr><td>Krmilnik<\/td><td>STM32<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n<figure data-wp-context=\"{&quot;imageId&quot;:&quot;6aef84dc395f6&quot;}\" data-wp-interactive=\"core\/image\" data-wp-key=\"6aef84dc395f6\" 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\">Preberi delo v 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\/projekti\/pegasti-sum-sar\/\"><span>\u2190 Prej\u0161nji<\/span>Odstranjevanje pegastega \u0161uma iz slik SAR<\/a><\/p>\n\n\n<p class=\"wp-block-paragraph\"><a href=\"\/losdv\/projekti\/raketa-pristanek\/\"><span>Naslednji \u2192<\/span>Raketa, ki pristane sama<\/a><\/p>\n<\/div>\n<\/div>\n<\/section>\n\n","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\/wp-json\/wp\/v2\/pages\/2100","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/comments?post=2100"}],"version-history":[{"count":3,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/pages\/2100\/revisions"}],"predecessor-version":[{"id":2148,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/pages\/2100\/revisions\/2148"}],"up":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/pages\/2098"}],"wp:attachment":[{"href":"https:\/\/au.feri.um.si\/losdv\/wp-json\/wp\/v2\/media?parent=2100"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}