This is my 6 wheel printable terrait robot desing for your project, research and coding experience. I used 25mm DC motors and 125mm terrain wheel in this project but you can change your wheel system. In this project, Arduino and Arm microcontroller can be use or you can be control with ESC system with your motors. I can give full support to you for this projects and anothers.
For more details;
https://www.cgtrader.com/3d-print-models/hobby-diy/robotics/6-wheel-printable-terrain-robot
Best Regards.
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