1. An electro-mechanical system, comprising: a plurality of connected modules, a first module of the modules comprising: an actuator for imparting motion on the electro-mechanical system; a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module to fulfill a received command; a three port switch, wherein a first port is configured for communication with a second module, wherein a second port is configured for communication with a third module, and wherein a third port is configured for communication with the data processor.