The robot is not running on battery power

My robot is not running on the battery power. The condition right now is that there is 4.8V going into the 9V jack next to the programming jack. When I turn on the Arduino board on battery power, the power LED turns on, on both boards, motor drive shield(L293D) and the main Arduino board. Also, I can see the transmitting led blinking as two motors move like 1 degree and stop. When the motor moves, it just sounds like a clock ticking.
Please help me with this problem

521minsu:
The condition right now is that there is 4.8V going into the 9V jack

I wonder if that's a clue.....

(Not that it's a 9V jack actually, it's a 7-12V jack)

(Not that it's a 9V jack actually, it's a 7-12V jack)

Which means that the minimum input voltage is 7V.