Decentralised communication system and corresponding control method

A decentralised communication system in a robot comprising at least two modules, each module being connected to at least one neighbouring module by a point-to-point connection, all the modules being connected to each other by at least one series connection, each module being selected from at least one interface module (2) or one communication module (4),

• an interface module (2) being connected by a connection other than the series connection or the point-to-point connection to at least one memory (5) allowing communication between the memory and the at least one other module,
• a communication module (4) being connected by a connection other than the series connection or the point-to-point connection to at least one device (7) allowing communication between the at least one device and the at least one other module,
• a device (7) being selected from at least one actuator, a sensor, a communication means, a battery, a power supply or a data processing means.