Ubiquitous robots consist of distributed and networked robot elements such as sensor, computer, actuator, and etc. Distributed actuator is one of the ubiquitous robot elements, which provides physical services. We are developing an actuation module which is distributed easy form. Here, communication channel between actuators and controller need to be improved in more easy dispersion of actuators. Wireless communication can distribute actuator to space easy. When huge number of actuators is distributed, necessary communication will be obstructed by communication traffic. And operating many actuators is over capacity for controller. This paper solves communication problem using by multicasting communication and the time sync system.
