This paper investigates motion control of a «capsule-like» mobile robot equipped with support legs and an internal body rotating at a constant angular velocity around a fixed axis perpendicular to the supporting surface. A computational scheme and mathematical model of the mobile robot have been developed, accounting for controlled displacement of support elements and describing the robot’s motion dynamics. The problem of determining motion algorithms for a mobile robot with a rotating internal body and support legs, ensuring its controlled movement from a starting point to a target destination, has been solved. Control algorithms for the support legs have been obtained, implementing basic trajectories of the mobile robot body’s geometric center (lateral movement, the 180° body turning). The results have shown that through coordinated control of the support legs, the robot can move in any direction and possesses maneuverability close to «ideal». This type of robot is promising from the standpoint of motion organization principles, whose distinctive feature, unlike known capsule robots, is the absence of support element slippage due to their rigid fixation with the surface.