Ubiquitous robots consist of distributed and networked robot elements such as sensor, computer, actuator, and etc. Distributed Actuation Module (DAM) is one of the ubiquitous robot elements, which provide physical services. If the technology of the DAM develops as well as sensor and computer technology, a user can match up and set robot elements freely. The ubiquitous robot can be designed according to the knowledge of the engineer as well as the true needs of the user. This paper describes problems of communication method and synchronization method for the DAM, and proposes a method to solve them. We also implemented the proposed methods to actual Active Caster which is wheel type actuator and evaluated the concept and functionalities.