The robot has been designed to be able to carry a load at least a dozen kilos. For this purpose, I used 6 high-power 12 V brushed DC motors (180 RPM, 27 kg-cm) with metal gearbox. These motors are controlled from six VNH2SP30 Single Motor Drivers that operate from 5.5 to 16 V and can deliver a continuous 14 A (and 30 A peak) per motor.