diff --git a/robot-plugins b/robot-plugins
index 334dc68..ad8dcef 160000
--- a/robot-plugins
+++ b/robot-plugins
@@ -1 +1 @@
-Subproject commit 334dc68a22b1265b44e5991b8939d3589718ecca
+Subproject commit ad8dcefe97b2a53f00ed1430a49ec0d3d15ab116
diff --git a/src/components/trials/wizard/RobotActionsPanel.tsx b/src/components/trials/wizard/RobotActionsPanel.tsx
new file mode 100644
index 0000000..2e75327
--- /dev/null
+++ b/src/components/trials/wizard/RobotActionsPanel.tsx
@@ -0,0 +1,614 @@
+"use client";
+
+import React, { useState, useEffect } from "react";
+import {
+  Bot,
+  Play,
+  Settings,
+  AlertCircle,
+  CheckCircle,
+  Loader2,
+  Volume2,
+  Move,
+  Eye,
+  Hand,
+  Zap,
+} from "lucide-react";
+import { Button } from "~/components/ui/button";
+import { Badge } from "~/components/ui/badge";
+import { Input } from "~/components/ui/input";
+import { Label } from "~/components/ui/label";
+import { Textarea } from "~/components/ui/textarea";
+import { Slider } from "~/components/ui/slider";
+import { Switch } from "~/components/ui/switch";
+import {
+  Select,
+  SelectContent,
+  SelectItem,
+  SelectTrigger,
+  SelectValue,
+} from "~/components/ui/select";
+import { ScrollArea } from "~/components/ui/scroll-area";
+import { Separator } from "~/components/ui/separator";
+import { Alert, AlertDescription } from "~/components/ui/alert";
+import {
+  Card,
+  CardContent,
+  CardDescription,
+  CardHeader,
+  CardTitle,
+} from "~/components/ui/card";
+import {
+  Collapsible,
+  CollapsibleContent,
+  CollapsibleTrigger,
+} from "~/components/ui/collapsible";
+import { api } from "~/trpc/react";
+import { toast } from "sonner";
+
+interface RobotAction {
+  id: string;
+  name: string;
+  description: string;
+  category: string;
+  parameters?: Array<{
+    name: string;
+    type: "text" | "number" | "boolean" | "select";
+    description: string;
+    required: boolean;
+    min?: number;
+    max?: number;
+    step?: number;
+    default?: unknown;
+    options?: Array<{ value: string; label: string }>;
+    placeholder?: string;
+    maxLength?: number;
+  }>;
+}
+
+interface Plugin {
+  plugin: {
+    id: string;
+    name: string;
+    version: string;
+    description: string;
+    trustLevel: string;
+    actionDefinitions: RobotAction[];
+  };
+  installation: {
+    id: string;
+    configuration: Record<string, unknown>;
+    installedAt: Date;
+  };
+}
+
+interface RobotActionsPanelProps {
+  studyId: string;
+  trialId: string;
+  onExecuteAction: (
+    pluginName: string,
+    actionId: string,
+    parameters: Record<string, unknown>,
+  ) => Promise<void>;
+}
+
+export function RobotActionsPanel({
+  studyId,
+  trialId,
+  onExecuteAction,
+}: RobotActionsPanelProps) {
+  const [selectedPlugin, setSelectedPlugin] = useState<string>("");
+  const [selectedAction, setSelectedAction] = useState<RobotAction | null>(
+    null,
+  );
+  const [actionParameters, setActionParameters] = useState<
+    Record<string, unknown>
+  >({});
+  const [executingActions, setExecutingActions] = useState<Set<string>>(
+    new Set(),
+  );
+  const [expandedCategories, setExpandedCategories] = useState<Set<string>>(
+    new Set(["movement", "speech"]),
+  );
+
+  // Get installed plugins for the study
+  const { data: plugins = [], isLoading } =
+    api.robots.plugins.getStudyPlugins.useQuery({
+      studyId,
+    });
+
+  // Get actions for selected plugin
+  const selectedPluginData = plugins.find(
+    (p) => p.plugin.id === selectedPlugin,
+  );
+
+  // Initialize parameters when action changes
+  useEffect(() => {
+    if (selectedAction) {
+      const defaultParams: Record<string, unknown> = {};
+
+      selectedAction.parameters?.forEach((param) => {
+        if (param.default !== undefined) {
+          defaultParams[param.name] = param.default;
+        } else if (param.required) {
+          // Set reasonable defaults for required params
+          switch (param.type) {
+            case "text":
+              defaultParams[param.name] = "";
+              break;
+            case "number":
+              defaultParams[param.name] = param.min ?? 0;
+              break;
+            case "boolean":
+              defaultParams[param.name] = false;
+              break;
+            case "select":
+              defaultParams[param.name] = param.options?.[0]?.value ?? "";
+              break;
+          }
+        }
+      });
+
+      setActionParameters(defaultParams);
+    } else {
+      setActionParameters({});
+    }
+  }, [selectedAction]);
+
+  const handleExecuteAction = async () => {
+    if (!selectedAction || !selectedPluginData) return;
+
+    const actionKey = `${selectedPluginData.plugin.name}.${selectedAction.id}`;
+    setExecutingActions((prev) => new Set([...prev, actionKey]));
+
+    try {
+      await onExecuteAction(
+        selectedPluginData.plugin.name,
+        selectedAction.id,
+        actionParameters,
+      );
+
+      toast.success(`Executed: ${selectedAction.name}`, {
+        description: `Robot action completed successfully`,
+      });
+    } catch (error) {
+      toast.error(`Failed to execute: ${selectedAction.name}`, {
+        description: error instanceof Error ? error.message : "Unknown error",
+      });
+    } finally {
+      setExecutingActions((prev) => {
+        const next = new Set(prev);
+        next.delete(actionKey);
+        return next;
+      });
+    }
+  };
+
+  const handleParameterChange = (paramName: string, value: unknown) => {
+    setActionParameters((prev) => ({
+      ...prev,
+      [paramName]: value,
+    }));
+  };
+
+  const renderParameterInput = (
+    param: NonNullable<RobotAction["parameters"]>[0],
+    paramIndex: number,
+  ) => {
+    if (!param) return null;
+
+    const value = actionParameters[param.name];
+
+    switch (param.type) {
+      case "text":
+        return (
+          <div key={param.name} className="space-y-2">
+            <Label htmlFor={param.name}>
+              {param.name} {param.required && "*"}
+            </Label>
+            {param.maxLength && param.maxLength > 100 ? (
+              <Textarea
+                id={param.name}
+                value={(value as string) || ""}
+                onChange={(e) =>
+                  handleParameterChange(param.name, e.target.value)
+                }
+                placeholder={param.placeholder}
+                maxLength={param.maxLength}
+              />
+            ) : (
+              <Input
+                id={param.name}
+                value={(value as string) || ""}
+                onChange={(e) =>
+                  handleParameterChange(param.name, e.target.value)
+                }
+                placeholder={param.placeholder}
+                maxLength={param.maxLength}
+              />
+            )}
+            <p className="text-muted-foreground text-xs">{param.description}</p>
+          </div>
+        );
+
+      case "number":
+        return (
+          <div key={param.name} className="space-y-2">
+            <Label htmlFor={param.name}>
+              {param.name} {param.required && "*"}
+            </Label>
+            {param.min !== undefined && param.max !== undefined ? (
+              <div className="space-y-2">
+                <Slider
+                  value={[Number(value) || param.min]}
+                  onValueChange={(newValue) =>
+                    handleParameterChange(param.name, newValue[0])
+                  }
+                  min={param.min}
+                  max={param.max}
+                  step={param.step || 0.1}
+                  className="w-full"
+                />
+                <div className="text-muted-foreground text-center text-sm">
+                  {Number(value) || param.min}
+                </div>
+              </div>
+            ) : (
+              <Input
+                id={param.name}
+                type="number"
+                value={Number(value) || ""}
+                onChange={(e) =>
+                  handleParameterChange(param.name, Number(e.target.value))
+                }
+                min={param.min}
+                max={param.max}
+                step={param.step}
+              />
+            )}
+            <p className="text-muted-foreground text-xs">{param.description}</p>
+          </div>
+        );
+
+      case "boolean":
+        return (
+          <div key={param.name} className="flex items-center space-x-2">
+            <Switch
+              id={param.name}
+              checked={Boolean(value)}
+              onCheckedChange={(checked) =>
+                handleParameterChange(param.name, checked)
+              }
+            />
+            <Label htmlFor={param.name}>
+              {param.name} {param.required && "*"}
+            </Label>
+            <p className="text-muted-foreground ml-auto text-xs">
+              {param.description}
+            </p>
+          </div>
+        );
+
+      case "select":
+        return (
+          <div key={param.name} className="space-y-2">
+            <Label htmlFor={param.name}>
+              {param.name} {param.required && "*"}
+            </Label>
+            <Select
+              value={String(value) || ""}
+              onValueChange={(newValue) =>
+                handleParameterChange(param.name, newValue)
+              }
+            >
+              <SelectTrigger>
+                <SelectValue placeholder={`Select ${param.name}`} />
+              </SelectTrigger>
+              <SelectContent>
+                {param.options?.map(
+                  (option: { value: string; label: string }) => (
+                    <SelectItem key={option.value} value={option.value}>
+                      {option.label}
+                    </SelectItem>
+                  ),
+                )}
+              </SelectContent>
+            </Select>
+            <p className="text-muted-foreground text-xs">{param.description}</p>
+          </div>
+        );
+
+      default:
+        return null;
+    }
+  };
+
+  const getCategoryIcon = (category: string) => {
+    switch (category.toLowerCase()) {
+      case "movement":
+        return Move;
+      case "speech":
+        return Volume2;
+      case "sensors":
+        return Eye;
+      case "interaction":
+        return Hand;
+      default:
+        return Zap;
+    }
+  };
+
+  const groupActionsByCategory = (actions: RobotAction[]) => {
+    const grouped: Record<string, RobotAction[]> = {};
+
+    actions.forEach((action) => {
+      const category = action.category || "other";
+      if (!grouped[category]) {
+        grouped[category] = [];
+      }
+      grouped[category].push(action);
+    });
+
+    return grouped;
+  };
+
+  const toggleCategory = (category: string) => {
+    setExpandedCategories((prev) => {
+      const next = new Set(prev);
+      if (next.has(category)) {
+        next.delete(category);
+      } else {
+        next.add(category);
+      }
+      return next;
+    });
+  };
+
+  if (isLoading) {
+    return (
+      <div className="flex items-center justify-center p-8">
+        <Loader2 className="h-6 w-6 animate-spin" />
+        <span className="ml-2">Loading robot plugins...</span>
+      </div>
+    );
+  }
+
+  if (plugins.length === 0) {
+    return (
+      <Alert>
+        <AlertCircle className="h-4 w-4" />
+        <AlertDescription>
+          No robot plugins installed for this study. Install plugins from the
+          study settings to enable robot control.
+        </AlertDescription>
+      </Alert>
+    );
+  }
+
+  return (
+    <div className="space-y-4">
+      {/* Plugin Selection */}
+      <div className="space-y-2">
+        <Label>Select Robot Plugin</Label>
+        <Select value={selectedPlugin} onValueChange={setSelectedPlugin}>
+          <SelectTrigger>
+            <SelectValue placeholder="Choose a robot plugin" />
+          </SelectTrigger>
+          <SelectContent>
+            {plugins.map((plugin) => (
+              <SelectItem key={plugin.plugin.id} value={plugin.plugin.id}>
+                <div className="flex items-center space-x-2">
+                  <Bot className="h-4 w-4" />
+                  <span>
+                    {plugin.plugin.name} v{plugin.plugin.version}
+                  </span>
+                  <Badge variant="outline" className="ml-auto">
+                    {plugin.plugin.trustLevel}
+                  </Badge>
+                </div>
+              </SelectItem>
+            ))}
+          </SelectContent>
+        </Select>
+      </div>
+
+      {/* Action Selection */}
+      {selectedPluginData && (
+        <div className="space-y-2">
+          <Label>Available Actions</Label>
+          <ScrollArea className="h-64 rounded-md border">
+            <div className="space-y-2 p-2">
+              {Object.entries(
+                groupActionsByCategory(
+                  (selectedPluginData.plugin
+                    .actionDefinitions as RobotAction[]) || [],
+                ),
+              ).map(([category, actions]) => {
+                const CategoryIcon = getCategoryIcon(category);
+                const isExpanded = expandedCategories.has(category);
+
+                return (
+                  <Collapsible
+                    key={category}
+                    open={isExpanded}
+                    onOpenChange={() => toggleCategory(category)}
+                  >
+                    <CollapsibleTrigger asChild>
+                      <Button
+                        variant="ghost"
+                        className="w-full justify-start p-2"
+                      >
+                        <CategoryIcon className="mr-2 h-4 w-4" />
+                        {category.charAt(0).toUpperCase() + category.slice(1)}
+                        <Badge variant="secondary" className="ml-auto">
+                          {actions.length}
+                        </Badge>
+                      </Button>
+                    </CollapsibleTrigger>
+                    <CollapsibleContent className="ml-6 space-y-1">
+                      {actions.map((action) => (
+                        <Button
+                          key={action.id}
+                          variant={
+                            selectedAction?.id === action.id
+                              ? "default"
+                              : "ghost"
+                          }
+                          className="w-full justify-start text-sm"
+                          onClick={() => setSelectedAction(action)}
+                        >
+                          {action.name}
+                        </Button>
+                      ))}
+                    </CollapsibleContent>
+                  </Collapsible>
+                );
+              })}
+            </div>
+          </ScrollArea>
+        </div>
+      )}
+
+      {/* Action Configuration */}
+      {selectedAction && (
+        <Card>
+          <CardHeader>
+            <CardTitle className="flex items-center space-x-2">
+              <Bot className="h-4 w-4" />
+              <span>{selectedAction.name}</span>
+            </CardTitle>
+            <CardDescription>{selectedAction.description}</CardDescription>
+          </CardHeader>
+          <CardContent className="space-y-4">
+            {/* Parameters */}
+            {selectedAction.parameters &&
+            selectedAction.parameters.length > 0 ? (
+              <div className="space-y-4">
+                <Label className="text-base">Parameters</Label>
+                {selectedAction.parameters.map((param, index) =>
+                  renderParameterInput(param, index),
+                )}
+              </div>
+            ) : (
+              <p className="text-muted-foreground text-sm">
+                This action requires no parameters.
+              </p>
+            )}
+
+            <Separator />
+
+            {/* Execute Button */}
+            <Button
+              onClick={handleExecuteAction}
+              disabled={
+                !selectedPluginData ||
+                executingActions.has(
+                  `${selectedPluginData.plugin.name}.${selectedAction.id}`,
+                )
+              }
+              className="w-full"
+            >
+              {selectedPluginData &&
+              executingActions.has(
+                `${selectedPluginData.plugin.name}.${selectedAction.id}`,
+              ) ? (
+                <>
+                  <Loader2 className="mr-2 h-4 w-4 animate-spin" />
+                  Executing...
+                </>
+              ) : (
+                <>
+                  <Play className="mr-2 h-4 w-4" />
+                  Execute Action
+                </>
+              )}
+            </Button>
+
+            {/* Quick Actions for Common Robot Commands */}
+            {selectedAction.category === "movement" && selectedPluginData && (
+              <div className="grid grid-cols-2 gap-2 pt-2">
+                <Button
+                  variant="outline"
+                  size="sm"
+                  onClick={() => {
+                    if (!selectedPluginData) return;
+                    const stopAction = (
+                      selectedPluginData.plugin
+                        .actionDefinitions as RobotAction[]
+                    )?.find((a: RobotAction) => a.id === "stop_movement");
+                    if (stopAction) {
+                      onExecuteAction(
+                        selectedPluginData.plugin.name,
+                        stopAction.id,
+                        {},
+                      );
+                    }
+                  }}
+                  disabled={
+                    !selectedPluginData ||
+                    !(
+                      selectedPluginData.plugin
+                        .actionDefinitions as RobotAction[]
+                    )?.some((a: RobotAction) => a.id === "stop_movement")
+                  }
+                >
+                  Emergency Stop
+                </Button>
+                <Button
+                  variant="outline"
+                  size="sm"
+                  onClick={() => {
+                    if (!selectedPluginData) return;
+                    const wakeAction = (
+                      selectedPluginData.plugin
+                        .actionDefinitions as RobotAction[]
+                    )?.find((a: RobotAction) => a.id === "wake_up");
+                    if (wakeAction) {
+                      onExecuteAction(
+                        selectedPluginData.plugin.name,
+                        wakeAction.id,
+                        {},
+                      );
+                    }
+                  }}
+                  disabled={
+                    !selectedPluginData ||
+                    !(
+                      selectedPluginData.plugin
+                        .actionDefinitions as RobotAction[]
+                    )?.some((a: RobotAction) => a.id === "wake_up")
+                  }
+                >
+                  Wake Up
+                </Button>
+              </div>
+            )}
+          </CardContent>
+        </Card>
+      )}
+
+      {/* Plugin Info */}
+      {selectedPluginData && (
+        <Alert>
+          <CheckCircle className="h-4 w-4" />
+          <AlertDescription>
+            <strong>{selectedPluginData.plugin.name}</strong> -{" "}
+            {selectedPluginData.plugin.description}
+            <br />
+            <span className="text-xs">
+              Installed:{" "}
+              {selectedPluginData.installation.installedAt.toLocaleDateString()}{" "}
+              | Trust Level: {selectedPluginData.plugin.trustLevel} | Actions:{" "}
+              {
+                (
+                  (selectedPluginData.plugin
+                    .actionDefinitions as RobotAction[]) || []
+                ).length
+              }
+            </span>
+          </AlertDescription>
+        </Alert>
+      )}
+    </div>
+  );
+}
diff --git a/src/components/trials/wizard/WizardInterface.tsx b/src/components/trials/wizard/WizardInterface.tsx
index 3bb9f26..dc3a633 100644
--- a/src/components/trials/wizard/WizardInterface.tsx
+++ b/src/components/trials/wizard/WizardInterface.tsx
@@ -68,7 +68,7 @@ export function WizardInterface({
 
   // Persistent tab states to prevent resets from parent re-renders
   const [controlPanelTab, setControlPanelTab] = useState<
-    "control" | "step" | "actions"
+    "control" | "step" | "actions" | "robot"
   >("control");
   const [executionPanelTab, setExecutionPanelTab] = useState<
     "current" | "timeline" | "events"
@@ -86,6 +86,20 @@ export function WizardInterface({
     },
   );
 
+  // Robot action execution mutation
+  const executeRobotActionMutation = api.trials.executeRobotAction.useMutation({
+    onSuccess: (result) => {
+      toast.success("Robot action executed successfully", {
+        description: `Completed in ${result.duration}ms`,
+      });
+    },
+    onError: (error) => {
+      toast.error("Failed to execute robot action", {
+        description: error.message,
+      });
+    },
+  });
+
   // Map database step types to component step types
   const mapStepType = (dbType: string) => {
     switch (dbType) {
@@ -304,6 +318,23 @@ export function WizardInterface({
     }
   };
 
+  const handleExecuteRobotAction = async (
+    pluginName: string,
+    actionId: string,
+    parameters: Record<string, unknown>,
+  ) => {
+    try {
+      await executeRobotActionMutation.mutateAsync({
+        trialId: trial.id,
+        pluginName,
+        actionId,
+        parameters,
+      });
+    } catch (error) {
+      console.error("Failed to execute robot action:", error);
+    }
+  };
+
   return (
     <div className="flex h-full flex-col">
       {/* Compact Status Bar */}
@@ -370,6 +401,8 @@ export function WizardInterface({
               onCompleteTrial={handleCompleteTrial}
               onAbortTrial={handleAbortTrial}
               onExecuteAction={handleExecuteAction}
+              onExecuteRobotAction={handleExecuteRobotAction}
+              studyId={trial.experiment.studyId}
               _isConnected={true}
               activeTab={controlPanelTab}
               onTabChange={setControlPanelTab}
diff --git a/src/components/trials/wizard/panels/WizardControlPanel.tsx b/src/components/trials/wizard/panels/WizardControlPanel.tsx
index 055a5db..69f0b23 100644
--- a/src/components/trials/wizard/panels/WizardControlPanel.tsx
+++ b/src/components/trials/wizard/panels/WizardControlPanel.tsx
@@ -12,6 +12,7 @@ import {
   Settings,
   Zap,
   User,
+  Bot,
 } from "lucide-react";
 import { Button } from "~/components/ui/button";
 import { Badge } from "~/components/ui/badge";
@@ -20,6 +21,7 @@ import { Separator } from "~/components/ui/separator";
 import { Alert, AlertDescription } from "~/components/ui/alert";
 import { Tabs, TabsList, TabsTrigger, TabsContent } from "~/components/ui/tabs";
 import { ScrollArea } from "~/components/ui/scroll-area";
+import { RobotActionsPanel } from "../RobotActionsPanel";
 
 interface StepData {
   id: string;
@@ -73,9 +75,15 @@ interface WizardControlPanelProps {
     actionId: string,
     parameters?: Record<string, unknown>,
   ) => void;
+  onExecuteRobotAction?: (
+    pluginName: string,
+    actionId: string,
+    parameters: Record<string, unknown>,
+  ) => Promise<void>;
+  studyId?: string;
   _isConnected: boolean;
-  activeTab: "control" | "step" | "actions";
-  onTabChange: (tab: "control" | "step" | "actions") => void;
+  activeTab: "control" | "step" | "actions" | "robot";
+  onTabChange: (tab: "control" | "step" | "actions" | "robot") => void;
   isStarting?: boolean;
 }
 
@@ -90,6 +98,8 @@ export function WizardControlPanel({
   onCompleteTrial,
   onAbortTrial,
   onExecuteAction,
+  onExecuteRobotAction,
+  studyId,
   _isConnected,
   activeTab,
   onTabChange,
@@ -157,14 +167,19 @@ export function WizardControlPanel({
       <Tabs
         value={activeTab}
         onValueChange={(value: string) => {
-          if (value === "control" || value === "step" || value === "actions") {
-            onTabChange(value);
+          if (
+            value === "control" ||
+            value === "step" ||
+            value === "actions" ||
+            value === "robot"
+          ) {
+            onTabChange(value as "control" | "step" | "actions" | "robot");
           }
         }}
         className="flex min-h-0 flex-1 flex-col"
       >
         <div className="border-b px-2 py-1">
-          <TabsList className="grid w-full grid-cols-3">
+          <TabsList className="grid w-full grid-cols-4">
             <TabsTrigger value="control" className="text-xs">
               <Settings className="mr-1 h-3 w-3" />
               Control
@@ -177,6 +192,10 @@ export function WizardControlPanel({
               <Zap className="mr-1 h-3 w-3" />
               Actions
             </TabsTrigger>
+            <TabsTrigger value="robot" className="text-xs">
+              <Bot className="mr-1 h-3 w-3" />
+              Robot
+            </TabsTrigger>
           </TabsList>
         </div>
 
@@ -422,6 +441,32 @@ export function WizardControlPanel({
               </div>
             </ScrollArea>
           </TabsContent>
+
+          {/* Robot Actions Tab */}
+          <TabsContent
+            value="robot"
+            className="m-0 h-full data-[state=active]:flex data-[state=active]:flex-col"
+          >
+            <ScrollArea className="h-full">
+              <div className="p-3">
+                {studyId && onExecuteRobotAction ? (
+                  <RobotActionsPanel
+                    studyId={studyId}
+                    trialId={trial.id}
+                    onExecuteAction={onExecuteRobotAction}
+                  />
+                ) : (
+                  <Alert>
+                    <AlertCircle className="h-4 w-4" />
+                    <AlertDescription>
+                      Robot actions are not available. Study ID or action
+                      handler is missing.
+                    </AlertDescription>
+                  </Alert>
+                )}
+              </div>
+            </ScrollArea>
+          </TabsContent>
         </div>
       </Tabs>
     </div>
diff --git a/src/server/api/routers/trials.ts b/src/server/api/routers/trials.ts
index 44978ee..4043853 100644
--- a/src/server/api/routers/trials.ts
+++ b/src/server/api/routers/trials.ts
@@ -25,7 +25,10 @@ import {
   mediaCaptures,
   users,
 } from "~/server/db/schema";
-import { TrialExecutionEngine } from "~/server/services/trial-execution";
+import {
+  TrialExecutionEngine,
+  type ActionDefinition,
+} from "~/server/services/trial-execution";
 
 // Helper function to check if user has access to trial
 async function checkTrialAccess(
@@ -894,4 +897,74 @@ export const trialsRouter = createTRPCRouter({
 
       return { success: true };
     }),
+
+  executeRobotAction: protectedProcedure
+    .input(
+      z.object({
+        trialId: z.string(),
+        pluginName: z.string(),
+        actionId: z.string(),
+        parameters: z.record(z.string(), z.unknown()).optional().default({}),
+      }),
+    )
+    .mutation(async ({ ctx, input }) => {
+      const { db } = ctx;
+      const userId = ctx.session.user.id;
+
+      await checkTrialAccess(db, userId, input.trialId, [
+        "owner",
+        "researcher",
+        "wizard",
+      ]);
+
+      // Use execution engine to execute robot action
+      const executionEngine = getExecutionEngine();
+
+      // Create action definition for execution
+      const actionDefinition: ActionDefinition = {
+        id: `${input.pluginName}.${input.actionId}`,
+        stepId: "manual", // Manual execution
+        name: input.actionId,
+        type: `${input.pluginName}.${input.actionId}`,
+        orderIndex: 0,
+        parameters: input.parameters,
+        timeout: 30000,
+        required: false,
+      };
+
+      const result = await executionEngine.executeAction(
+        input.trialId,
+        actionDefinition,
+      );
+
+      if (!result.success) {
+        throw new TRPCError({
+          code: "INTERNAL_SERVER_ERROR",
+          message: result.error ?? "Robot action execution failed",
+        });
+      }
+
+      // Log the manual robot action execution
+      await db.insert(trialEvents).values({
+        trialId: input.trialId,
+        eventType: "manual_robot_action",
+        actionId: actionDefinition.id,
+        data: {
+          userId,
+          pluginName: input.pluginName,
+          actionId: input.actionId,
+          parameters: input.parameters,
+          result: result.data,
+          duration: result.duration,
+        },
+        timestamp: new Date(),
+        createdBy: userId,
+      });
+
+      return {
+        success: true,
+        data: result.data,
+        duration: result.duration,
+      };
+    }),
 });
diff --git a/src/server/services/robot-communication.ts b/src/server/services/robot-communication.ts
new file mode 100644
index 0000000..6928c18
--- /dev/null
+++ b/src/server/services/robot-communication.ts
@@ -0,0 +1,472 @@
+/* eslint-disable @typescript-eslint/no-explicit-any */
+/* eslint-disable @typescript-eslint/no-unsafe-assignment */
+/* eslint-disable @typescript-eslint/no-unsafe-member-access */
+/* eslint-disable @typescript-eslint/no-unsafe-call */
+/* eslint-disable @typescript-eslint/no-unsafe-return */
+
+import WebSocket from "ws";
+import { EventEmitter } from "events";
+
+export interface RobotCommunicationConfig {
+  rosBridgeUrl: string;
+  connectionTimeout: number;
+  reconnectInterval: number;
+  maxReconnectAttempts: number;
+}
+
+export interface RobotAction {
+  pluginName: string;
+  actionId: string;
+  parameters: Record<string, unknown>;
+  implementation: {
+    topic: string;
+    messageType: string;
+    messageTemplate: Record<string, unknown>;
+  };
+}
+
+export interface RobotActionResult {
+  success: boolean;
+  duration: number;
+  data?: Record<string, unknown>;
+  error?: string;
+}
+
+/**
+ * Server-side robot communication service for ROS integration
+ *
+ * This service manages WebSocket connections to rosbridge_server and provides
+ * a high-level interface for executing robot actions during trial execution.
+ */
+export class RobotCommunicationService extends EventEmitter {
+  private ws: WebSocket | null = null;
+  private config: RobotCommunicationConfig;
+  private messageId = 0;
+  private pendingActions = new Map<
+    string,
+    {
+      resolve: (result: RobotActionResult) => void;
+      reject: (error: Error) => void;
+      timeout: NodeJS.Timeout;
+      startTime: number;
+    }
+  >();
+  private reconnectAttempts = 0;
+  private reconnectTimer: NodeJS.Timeout | null = null;
+  private isConnected = false;
+
+  constructor(config: Partial<RobotCommunicationConfig> = {}) {
+    super();
+
+    this.config = {
+      rosBridgeUrl: process.env.ROS_BRIDGE_URL || "ws://localhost:9090",
+      connectionTimeout: 10000,
+      reconnectInterval: 5000,
+      maxReconnectAttempts: 10,
+      ...config,
+    };
+  }
+
+  /**
+   * Initialize connection to ROS bridge
+   */
+  async connect(): Promise<void> {
+    if (this.isConnected) {
+      return;
+    }
+
+    return new Promise((resolve, reject) => {
+      console.log(
+        `[RobotComm] Connecting to ROS bridge: ${this.config.rosBridgeUrl}`,
+      );
+
+      try {
+        this.ws = new WebSocket(this.config.rosBridgeUrl);
+
+        const connectionTimeout = setTimeout(() => {
+          reject(new Error("Connection timeout"));
+          this.cleanup();
+        }, this.config.connectionTimeout);
+
+        this.ws.on("open", () => {
+          clearTimeout(connectionTimeout);
+          this.isConnected = true;
+          this.reconnectAttempts = 0;
+
+          console.log("[RobotComm] Connected to ROS bridge");
+          this.emit("connected");
+          resolve();
+        });
+
+        this.ws.on("message", (data: WebSocket.Data) => {
+          try {
+            const message = JSON.parse(data.toString());
+            this.handleMessage(message);
+          } catch (error) {
+            console.error("[RobotComm] Failed to parse message:", error);
+          }
+        });
+
+        this.ws.on("close", (code: number, reason: string) => {
+          this.isConnected = false;
+          console.log(`[RobotComm] Connection closed: ${code} - ${reason}`);
+
+          this.emit("disconnected");
+
+          // Reject all pending actions
+          this.rejectAllPendingActions(new Error("Connection lost"));
+
+          // Schedule reconnection if not intentionally closed
+          if (
+            code !== 1000 &&
+            this.reconnectAttempts < this.config.maxReconnectAttempts
+          ) {
+            this.scheduleReconnect();
+          }
+        });
+
+        this.ws.on("error", (error: Error) => {
+          console.error("[RobotComm] WebSocket error:", error);
+          clearTimeout(connectionTimeout);
+          this.emit("error", error);
+          reject(error);
+        });
+      } catch (error) {
+        reject(error);
+      }
+    });
+  }
+
+  /**
+   * Disconnect from ROS bridge
+   */
+  disconnect(): void {
+    if (this.reconnectTimer) {
+      clearTimeout(this.reconnectTimer);
+      this.reconnectTimer = null;
+    }
+
+    this.rejectAllPendingActions(new Error("Service disconnected"));
+
+    if (this.ws) {
+      this.ws.close(1000, "Normal closure");
+      this.ws = null;
+    }
+
+    this.isConnected = false;
+    this.emit("disconnected");
+  }
+
+  /**
+   * Execute a robot action
+   */
+  async executeAction(action: RobotAction): Promise<RobotActionResult> {
+    if (!this.isConnected) {
+      throw new Error("Not connected to ROS bridge");
+    }
+
+    const startTime = Date.now();
+    const actionId = `action_${this.messageId++}`;
+
+    return new Promise((resolve, reject) => {
+      // Set up timeout
+      const timeout = setTimeout(() => {
+        this.pendingActions.delete(actionId);
+        reject(new Error(`Action timeout: ${action.actionId}`));
+      }, 30000); // 30 second timeout
+
+      // Store pending action
+      this.pendingActions.set(actionId, {
+        resolve,
+        reject,
+        timeout,
+        startTime,
+      });
+
+      try {
+        // Execute action based on type and platform
+        this.executeRobotActionInternal(action, actionId);
+      } catch (error) {
+        clearTimeout(timeout);
+        this.pendingActions.delete(actionId);
+        reject(error);
+      }
+    });
+  }
+
+  /**
+   * Check if service is connected
+   */
+  getConnectionStatus(): boolean {
+    return this.isConnected;
+  }
+
+  // Private methods
+
+  private executeRobotActionInternal(
+    action: RobotAction,
+    actionId: string,
+  ): void {
+    const { implementation, parameters } = action;
+
+    // Build ROS message from template
+    const message = this.buildRosMessage(
+      implementation.messageTemplate,
+      parameters,
+    );
+
+    // Publish to ROS topic
+    this.publishToTopic(
+      implementation.topic,
+      implementation.messageType,
+      message,
+    );
+
+    // For actions that complete immediately (like movement commands),
+    // we simulate completion after a short delay
+    setTimeout(() => {
+      this.completeAction(actionId, {
+        success: true,
+        duration:
+          Date.now() -
+          (this.pendingActions.get(actionId)?.startTime || Date.now()),
+        data: {
+          topic: implementation.topic,
+          messageType: implementation.messageType,
+          message,
+        },
+      });
+    }, 100);
+  }
+
+  private buildRosMessage(
+    template: Record<string, unknown>,
+    parameters: Record<string, unknown>,
+  ): Record<string, unknown> {
+    const message: Record<string, unknown> = {};
+
+    for (const [key, value] of Object.entries(template)) {
+      if (typeof value === "string" && value.includes("{{")) {
+        // Template substitution
+        let substituted = value;
+
+        // Replace template variables
+        for (const [paramKey, paramValue] of Object.entries(parameters)) {
+          const placeholder = `{{${paramKey}}}`;
+          if (substituted.includes(placeholder)) {
+            substituted = substituted.replace(
+              new RegExp(
+                placeholder.replace(/[.*+?^${}()|[\]\\]/g, "\\$&"),
+                "g",
+              ),
+              String(paramValue ?? ""),
+            );
+          }
+        }
+
+        // Handle conditional templates
+        if (
+          substituted.includes("{{") &&
+          substituted.includes("?") &&
+          substituted.includes(":")
+        ) {
+          // Simple conditional: {{condition ? valueTrue : valueFalse}}
+          const match = substituted.match(
+            /\{\{(.+?)\s*\?\s*(.+?)\s*:\s*(.+?)\}\}/,
+          );
+          if (match && match.length >= 4) {
+            const condition = match[1];
+            const trueValue = match[2];
+            const falseValue = match[3];
+            // Evaluate simple conditions
+            let conditionResult = false;
+
+            if (condition?.includes("===")) {
+              const parts = condition
+                .split("===")
+                .map((s) => s.trim().replace(/['"]/g, ""));
+              if (parts.length >= 2) {
+                const left = parts[0];
+                const right = parts[1];
+                conditionResult = parameters[left || ""] === right;
+              }
+            }
+
+            substituted = substituted.replace(
+              match[0],
+              conditionResult ? (trueValue ?? "") : (falseValue ?? ""),
+            );
+          }
+        }
+
+        // Try to parse as number if it looks like one
+        if (!isNaN(Number(substituted))) {
+          message[key] = Number(substituted);
+        } else {
+          message[key] = substituted;
+        }
+      } else if (Array.isArray(value)) {
+        // Handle array templates
+        message[key] = value.map((item) =>
+          typeof item === "string" && item.includes("{{")
+            ? this.substituteTemplateString(item, parameters)
+            : item,
+        );
+      } else if (typeof value === "object" && value !== null) {
+        // Recursively handle nested objects
+        message[key] = this.buildRosMessage(
+          value as Record<string, unknown>,
+          parameters,
+        );
+      } else {
+        message[key] = value;
+      }
+    }
+
+    return message;
+  }
+
+  private substituteTemplateString(
+    template: string,
+    parameters: Record<string, unknown>,
+  ): unknown {
+    let result = template;
+
+    for (const [key, value] of Object.entries(parameters)) {
+      const placeholder = `{{${key}}}`;
+      if (result.includes(placeholder)) {
+        result = result.replace(
+          new RegExp(placeholder.replace(/[.*+?^${}()|[\]\\]/g, "\\$&"), "g"),
+          String(value ?? ""),
+        );
+      }
+    }
+
+    // Try to parse as number if it looks like one
+    if (!isNaN(Number(result))) {
+      return Number(result);
+    }
+
+    return result;
+  }
+
+  private publishToTopic(
+    topic: string,
+    messageType: string,
+    message: Record<string, unknown>,
+  ): void {
+    if (!this.ws) return;
+
+    const rosMessage = {
+      op: "publish",
+      topic,
+      type: messageType,
+      msg: message,
+    };
+
+    console.log(`[RobotComm] Publishing to ${topic}:`, message);
+    this.ws.send(JSON.stringify(rosMessage));
+  }
+
+  private handleMessage(message: any): void {
+    // Handle different types of ROS bridge messages
+    switch (message.op) {
+      case "publish":
+        this.emit("topic_message", message.topic, message.msg);
+        break;
+
+      case "service_response":
+        this.handleServiceResponse(message);
+        break;
+
+      case "status":
+        console.log("[RobotComm] Status:", message);
+        break;
+
+      default:
+        console.log("[RobotComm] Unhandled message:", message);
+    }
+  }
+
+  private handleServiceResponse(message: any): void {
+    // Handle service call responses if needed
+    console.log("[RobotComm] Service response:", message);
+  }
+
+  private completeAction(actionId: string, result: RobotActionResult): void {
+    const pending = this.pendingActions.get(actionId);
+    if (pending) {
+      clearTimeout(pending.timeout);
+      this.pendingActions.delete(actionId);
+      pending.resolve(result);
+    }
+  }
+
+  private rejectAllPendingActions(error: Error): void {
+    for (const [actionId, pending] of this.pendingActions.entries()) {
+      clearTimeout(pending.timeout);
+      pending.reject(error);
+    }
+    this.pendingActions.clear();
+  }
+
+  private scheduleReconnect(): void {
+    if (this.reconnectTimer) return;
+
+    this.reconnectAttempts++;
+    console.log(
+      `[RobotComm] Scheduling reconnect attempt ${this.reconnectAttempts}/${this.config.maxReconnectAttempts} in ${this.config.reconnectInterval}ms`,
+    );
+
+    this.reconnectTimer = setTimeout(async () => {
+      this.reconnectTimer = null;
+
+      try {
+        await this.connect();
+      } catch (error) {
+        console.error("[RobotComm] Reconnect failed:", error);
+
+        if (this.reconnectAttempts < this.config.maxReconnectAttempts) {
+          this.scheduleReconnect();
+        } else {
+          console.error("[RobotComm] Max reconnect attempts reached");
+          this.emit("max_reconnects_reached");
+        }
+      }
+    }, this.config.reconnectInterval);
+  }
+
+  private cleanup(): void {
+    if (this.ws) {
+      this.ws.removeAllListeners();
+      this.ws = null;
+    }
+    this.isConnected = false;
+  }
+}
+
+// Global service instance
+let robotCommService: RobotCommunicationService | null = null;
+
+/**
+ * Get or create the global robot communication service
+ */
+export function getRobotCommunicationService(): RobotCommunicationService {
+  if (!robotCommService) {
+    robotCommService = new RobotCommunicationService();
+  }
+  return robotCommService;
+}
+
+/**
+ * Initialize robot communication service with connection
+ */
+export async function initRobotCommunicationService(): Promise<RobotCommunicationService> {
+  const service = getRobotCommunicationService();
+
+  if (!service.getConnectionStatus()) {
+    await service.connect();
+  }
+
+  return service;
+}
diff --git a/src/server/services/trial-execution.ts b/src/server/services/trial-execution.ts
index 540ed78..2a3d606 100644
--- a/src/server/services/trial-execution.ts
+++ b/src/server/services/trial-execution.ts
@@ -9,8 +9,19 @@
 /* eslint-disable @typescript-eslint/no-base-to-string */
 
 import { type db } from "~/server/db";
-import { trials, steps, actions, trialEvents } from "~/server/db/schema";
+import {
+  trials,
+  steps,
+  actions,
+  trialEvents,
+  plugins,
+} from "~/server/db/schema";
 import { eq, asc } from "drizzle-orm";
+import {
+  getRobotCommunicationService,
+  type RobotAction,
+  type RobotActionResult,
+} from "./robot-communication";
 
 export type TrialStatus =
   | "scheduled"
@@ -72,6 +83,8 @@ export class TrialExecutionEngine {
   private db: typeof db;
   private activeTrials = new Map<string, ExecutionContext>();
   private stepDefinitions = new Map<string, StepDefinition[]>();
+  private pluginCache = new Map<string, any>();
+  private robotComm = getRobotCommunicationService();
 
   constructor(database: typeof db) {
     this.db = database;
@@ -377,7 +390,7 @@ export class TrialExecutionEngine {
   /**
    * Execute a single action
    */
-  private async executeAction(
+  async executeAction(
     trialId: string,
     action: ActionDefinition,
   ): Promise<ActionExecutionResult> {
@@ -488,41 +501,69 @@ export class TrialExecutionEngine {
     trialId: string,
     action: ActionDefinition,
   ): Promise<ActionExecutionResult> {
+    const startTime = Date.now();
+
     try {
       // Parse plugin.action format
-      const [pluginId, actionType] = action.type.split(".");
+      const [pluginName, actionId] = action.type.split(".");
 
-      // TODO: Integrate with actual robot plugin system
-      // For now, simulate robot action execution
+      if (!pluginName || !actionId) {
+        throw new Error(
+          `Invalid robot action format: ${action.type}. Expected format: plugin.action`,
+        );
+      }
 
-      const simulationDelay = Math.random() * 2000 + 500; // 500ms - 2.5s
+      // Get plugin configuration from database
+      const plugin = await this.getPluginDefinition(pluginName);
+      if (!plugin) {
+        throw new Error(`Plugin not found: ${pluginName}`);
+      }
 
-      return new Promise((resolve) => {
-        setTimeout(() => {
-          // Simulate success/failure
-          const success = Math.random() > 0.1; // 90% success rate
+      // Find action definition in plugin
+      const actionDefinition = plugin.actions?.find(
+        (a: any) => a.id === actionId,
+      );
+      if (!actionDefinition) {
+        throw new Error(
+          `Action '${actionId}' not found in plugin '${pluginName}'`,
+        );
+      }
 
-          resolve({
-            success,
-            completed: true,
-            duration: simulationDelay,
-            data: {
-              pluginId,
-              actionType,
-              parameters: action.parameters,
-              robotResponse: success
-                ? "Action completed successfully"
-                : "Robot action failed",
-            },
-            error: success ? undefined : "Simulated robot failure",
-          });
-        }, simulationDelay);
-      });
+      // Validate parameters
+      const validatedParams = this.validateActionParameters(
+        actionDefinition,
+        action.parameters,
+      );
+
+      // Execute action through robot communication service
+      const result = await this.executeRobotActionWithComm(
+        plugin,
+        actionDefinition,
+        validatedParams,
+        trialId,
+      );
+
+      const duration = Date.now() - startTime;
+
+      return {
+        success: true,
+        completed: true,
+        duration,
+        data: {
+          pluginName,
+          actionId,
+          parameters: validatedParams,
+          robotResponse: result,
+          platform: plugin.platform,
+        },
+      };
     } catch (error) {
+      const duration = Date.now() - startTime;
+
       return {
         success: false,
         completed: false,
-        duration: 0,
+        duration,
         error:
           error instanceof Error
             ? error.message
@@ -531,6 +572,224 @@ export class TrialExecutionEngine {
     }
   }
 
+  /**
+   * Get plugin definition from database with caching
+   */
+  private async getPluginDefinition(pluginName: string): Promise<any> {
+    // Check cache first
+    if (this.pluginCache.has(pluginName)) {
+      return this.pluginCache.get(pluginName);
+    }
+
+    try {
+      const [plugin] = await this.db
+        .select()
+        .from(plugins)
+        .where(eq(plugins.name, pluginName))
+        .limit(1);
+
+      if (plugin) {
+        // Cache the plugin definition
+        const pluginData = {
+          ...plugin,
+          actions: plugin.actionDefinitions,
+          platform: (plugin.metadata as any)?.platform,
+          ros2Config: (plugin.metadata as any)?.ros2Config,
+        };
+
+        this.pluginCache.set(pluginName, pluginData);
+        return pluginData;
+      }
+
+      return null;
+    } catch (error) {
+      console.error(`Failed to load plugin ${pluginName}:`, error);
+      return null;
+    }
+  }
+
+  /**
+   * Validate action parameters against plugin schema
+   */
+  private validateActionParameters(
+    actionDefinition: any,
+    parameters: Record<string, unknown>,
+  ): Record<string, unknown> {
+    const validated: Record<string, unknown> = {};
+
+    if (!actionDefinition.parameters) {
+      return parameters;
+    }
+
+    for (const paramDef of actionDefinition.parameters) {
+      const paramName = paramDef.name;
+      const paramValue = parameters[paramName];
+
+      // Required parameter check
+      if (
+        paramDef.required &&
+        (paramValue === undefined || paramValue === null)
+      ) {
+        throw new Error(`Required parameter '${paramName}' is missing`);
+      }
+
+      // Use default value if parameter not provided
+      if (paramValue === undefined && paramDef.default !== undefined) {
+        validated[paramName] = paramDef.default;
+        continue;
+      }
+
+      if (paramValue !== undefined) {
+        // Type validation
+        switch (paramDef.type) {
+          case "number":
+            const numValue = Number(paramValue);
+            if (isNaN(numValue)) {
+              throw new Error(`Parameter '${paramName}' must be a number`);
+            }
+            if (paramDef.min !== undefined && numValue < paramDef.min) {
+              throw new Error(
+                `Parameter '${paramName}' must be >= ${paramDef.min}`,
+              );
+            }
+            if (paramDef.max !== undefined && numValue > paramDef.max) {
+              throw new Error(
+                `Parameter '${paramName}' must be <= ${paramDef.max}`,
+              );
+            }
+            validated[paramName] = numValue;
+            break;
+
+          case "boolean":
+            validated[paramName] = Boolean(paramValue);
+            break;
+
+          case "select":
+            if (paramDef.options) {
+              const validOptions = paramDef.options.map(
+                (opt: any) => opt.value,
+              );
+              if (!validOptions.includes(paramValue)) {
+                throw new Error(
+                  `Parameter '${paramName}' must be one of: ${validOptions.join(", ")}`,
+                );
+              }
+            }
+            validated[paramName] = paramValue;
+            break;
+
+          default:
+            validated[paramName] = paramValue;
+        }
+      }
+    }
+
+    return validated;
+  }
+
+  /**
+   * Execute robot action through robot communication service
+   */
+  private async executeRobotActionWithComm(
+    plugin: any,
+    actionDefinition: any,
+    parameters: Record<string, unknown>,
+    trialId: string,
+  ): Promise<string> {
+    // Ensure robot communication service is available
+    if (!this.robotComm.getConnectionStatus()) {
+      try {
+        await this.robotComm.connect();
+      } catch (error) {
+        throw new Error(
+          `Failed to connect to robot: ${error instanceof Error ? error.message : "Unknown error"}`,
+        );
+      }
+    }
+
+    // Prepare robot action
+    const robotAction: RobotAction = {
+      pluginName: plugin.name,
+      actionId: actionDefinition.id,
+      parameters,
+      implementation: actionDefinition.implementation,
+    };
+
+    // Execute action through robot communication service
+    const result: RobotActionResult =
+      await this.robotComm.executeAction(robotAction);
+
+    if (!result.success) {
+      throw new Error(result.error || "Robot action failed");
+    }
+
+    // Log the successful action execution
+    await this.logTrialEvent(trialId, "robot_action_executed", {
+      actionId: actionDefinition.id,
+      parameters,
+      platform: plugin.platform,
+      topic: actionDefinition.implementation?.topic,
+      messageType: actionDefinition.implementation?.messageType,
+      duration: result.duration,
+      robotResponse: result.data,
+    });
+
+    // Return human-readable result
+    return this.formatRobotActionResult(
+      plugin,
+      actionDefinition,
+      parameters,
+      result,
+    );
+  }
+
+  /**
+   * Format robot action result for human readability
+   */
+  private formatRobotActionResult(
+    plugin: any,
+    actionDefinition: any,
+    parameters: Record<string, unknown>,
+    result: RobotActionResult,
+  ): string {
+    const actionType = actionDefinition.id;
+    const platform = plugin.platform || "Robot";
+
+    switch (actionType) {
+      case "say_text":
+        return `${platform} said: "${parameters.text}"`;
+
+      case "walk_forward":
+        return `${platform} walked forward at speed ${parameters.speed} for ${parameters.duration || "indefinite"} seconds`;
+
+      case "walk_backward":
+        return `${platform} walked backward at speed ${parameters.speed} for ${parameters.duration || "indefinite"} seconds`;
+
+      case "turn_left":
+      case "turn_right":
+        const direction = actionType.split("_")[1];
+        return `${platform} turned ${direction} at speed ${parameters.speed}`;
+
+      case "move_head":
+        return `${platform} moved head to yaw=${parameters.yaw}, pitch=${parameters.pitch}`;
+
+      case "move_arm":
+        return `${platform} moved ${parameters.arm} arm to specified position`;
+
+      case "stop_movement":
+        return `${platform} stopped all movement`;
+
+      case "set_volume":
+        return `${platform} set volume to ${parameters.volume}`;
+
+      case "set_language":
+        return `${platform} set language to ${parameters.language}`;
+
+      default:
+        return `${platform} executed action: ${actionType} (${result.duration}ms)`;
+    }
+  }
+
   /**
    * Advance to the next step
    */