App Inventor apps can only communicate with a robot using Bluetooth protocols. There is no capability to use IP.
You may find this MIT Interfacing App Inventor projects to external sensors article useful https://docs.google.com/ document/d/1HuWW8C3Ghz-pO- tWRpod2znM5wD7RfK10b2J37ftf2E/ pub
You could also search in the forum using the Search for topics box to the right of the colorful google at the top of this page with terms like:
Bluetooth
Arduino
NXT Lego
and see what other developers are doing with AI2 and establish whether it can do what you want to do with your robot control board. If the board can not be controlled with Bluetooth, I expect you are out of luck.
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