For a basic robot, you should have a robot design first, that is, how many wheels (motors) you need to control.
After that, you should study how to control a motor. How many types of motors do you know? DC, RC, servo, stepping... Pls take a look to an old topic where they talked muchie how different between servo, DC and stepping.
You then should build a motor driver, you may use H brigdes or some intergrated chips.
You then test if the motor turn as good as in your controller. You may make it work as in your controller (have you solved the controller problems for your robots?) you may use hardware or software. For hardware solutions, I don't know muchie, but I may help if you intend to use software solutions. For hardware solutions, I think chippie, nigel, or neutron... (technicien de cette forum) may help you muchie, even software solutions.
I think you should build your robot step by step, then ask again. If you ask these general questions, it's difficult to answer.