## 6 Final Remarks  
This article presents the low-cost development of a wheel-legged robot based on modern tools (e.g., the ESP32 microcontroller and swarm-inspired optimization). The flower pollination algorithm, an optimization algorithm, was applied for correct selection of the mechanical structure and parameters of the speed controllers (used for the BLDC machines). Additionally, a low-cost (wireless) HMI integrated with the main controller unit is proposed in the article. The main remarks based on the final results are presented below. Figure 13: The kinematics analysis of robot (control part). * In the presented robot control interface, the leveling system does not work autonomously, so the adjustment of each leg height should be realized continuously. * The integration of the ESP32 controller with the HMI website is an efficient and low-cost solution for robotic systems. * The integration of the control website with a modern microcontroller unit allows operation of the robot using a touch screen. * The use of ESP32 allows a mobile robotic platform to be controlled with a smartphone. * The use of a synchronous state machine implemented in the main controller is mandatory in order to synchronize all tasks in specific time windows. * The ESP32 is a modern and efficient tool that gives the possibility of synchronising basic control procedures with wireless communication and power demanding calculation of control kinematics. * The FPA is a reasonable tool in the tuning process of the PI speed controller in the FOC structure, which ensures a high-precision speed control loop. * The UART protocol is a sufficient and user-friendly tool to be widely used in modern robotic platforms. * Raspberry Pi Pico is a low-cost entry level microcontroller unit, which ensures the possibility to realize advanced control structures in real time. * The FPA is an efficient tool for geometric synthesis of wheel-legged suspension. * Further improvements in the control system and HMI interface are considered. * Enhanced versions of the FPA are planned to be applied in further research activities. * Further research will cover both low-cost remote control and autonomous, AI-based systems applied to wheel-legged robots. The aim of the presented research was to develop a remotely controlled robotic platform with adjustable legs heights. The novelty of the work deals with successful application of the flower pollination algorithm in mechanical synthesis and speed controller tuning, and the development of a low-cost ESP32-based wireless control web framework. The superiority of the proposed solution, over standard robotic platforms, is undoubtedly the possibility of adaptation of each wheel independently. The presented Wi-Fi-based control interface can be considered to be connected with WAN networks via mobile networks, enabling a virtually infinite range of control. Even without additional LTE/5G modems and using only an existing in-plant wireless network infrastructure, the robot can be controlled throughout the whole area by an operator from a single (stationary) PC. Thus, in further development, the operator can be replaced with a single master computer controlling (possibly AI-based) the swarm of the robots connected to a Wi-Fi network. Conceptualization, M.K. and M.M. ; methodology, M.K., J.S. and M.M. ; software, M.M. ; validation, M.M. and J.S. ; formal analysis, M.K. ; investigation, M.K., M.M. and G.K.; resources, M.K., M.M. and J.S. ; data curation, M.M. and G.K.; writing--original draft preparation, M.K., M.M., G.K. and J.S. ; writing--review and editing, M.K., M.M., G.K. and J.S. ; visualization, M.M. and G.K.; supervision, M.K. ; project administration, M.K. All authors have read and agreed to the published version of the manuscript. This research received no external funding. Not applicable. The authors declare no conflict of interest. The following abbreviations are used in this manuscript:  
HMIHuman-machine interface  
SCADASupervisory control and data acquisition  
MCUMicrocontroller unit  
RFRadio frequency  
RCRemote control