Your circuit reminds me of a circuit I built 20 years ago but I don't see how this can be used on a robot. 12v PS. 555 drives a 2N3055 transistor. Transistor drives a car ignition coils. Variable resistor adjusts frequency for best spark. Spark is used on my model pulse jet engine spark plug to get the engine started. Ignition coil is not a high frequency devise, it stops working above a certain frequency. Replace my ignition coil with your transformer.
If your serious about building a GOOD Robot buy a used Allen Bradley SLC150 with hand held programmer and cables on ebay. It has 16 inputs and 8 outputs. There are 4 versions of the SLC150, 24 volt with solid relay contacts, 24v for elecrtronic sensors, 120 vac with solid contact, 120 vac for electronic sensors. These were popular 25 yrs ago now they are dirt cheap on ebay. The next generator of this unit was even better and they are dirt cheap on ebay too $100 each with the programmer and cables. These are so easy to program, you can make them do anything. Instruction manual is online. GE, Westinghouse and several other companies built programmable controllers.