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With the rapid growth of the Internet, the interest for connecting small devices such as sensors or embedded system appliances into an existing network infrastructure has increased. Web browser is used by remote operator to control and monitor the devices via Internet and these applications are widely utilized in tele-operation, space exploration and tele-training systems. Such devices often have very limited CPU and memory resources and may not be able to run a complete TCP/IP protocol suite. This paper described an implementation of embedded Web server for a mobile robot using minimal TCP/IP stack. The minimal TCP/IP stack has to minimize the standard TCP/IP, in terms of code size and resources to be embedded into minimal systems such as small mobile robots. The performance of the embedded Web server for tele-control of a mobile robot was evaluated and presented.