This End of Degree Project is centered on the building of a two-wheeled vehicle robot and the design and programming of current control for its motors. The project continues the task of three previous works regarding the same type of robot, trying to improve its hardware optimization and changing the controls. The first part of the project is a description of the hardware implementation. All the components are characterized and their circuit schematics are documented and explained. Current sensors for the motors are designed, calculated and implemented in order to obtain the signal needed for executing the current control. The second part explains the model of the vehicle and motors and the control structures that manage the entire robot. It is focused on the design of the motors control using the current as the main controlling variable. Some tests are showed to demonstrate the effectiveness of the controls. Besides this, a lot of work regarding electronic theorization, building and testing is realized but not documented on this memory. This is a really practical project and most of the parts of the process can’t and shouldn’t be explained on paper.