How to calculate speed and torque

[maddox10]

I do understand that, but testing has taken place with a 100kg load and it works fine but would have to travel around 3-5mph not the anticipated 10mph

Then you won't need a gear-up of 5-1, 3.5-1 or whatever. A 2-1 will do. 40 teeth on the motor, 20 teeth on the wheels.

In any case, for a housebot, 250W sounds extreem low power. If you know that the "original housebots" used motors like the Briggs & Stratton Etec with 11 kw of power and gazillions of Nm torque....