A modular joint for a reconfigurable robot configured with a plurality of blocks comprising at least one said modular joint (J1-J6) and at least one link member (L1-L6), each block having uniform interfaces that allow transfer of mechanical forces and torque, electrical power, and communications therethrough, the modular joint comprising: - a central shaft, wherein said central shaft comprises a wire hole suitable to allow accommodation and passage of wires and feed connections that enable flow of electric current, data and pneumatic or hydraulic fluids; - drive means (1,4) mounted on said central shaft; - a motion input link flange means; - a motion output link flange means; characterised in that said motion input link flange means being connected to said drive means (1,4) so as to be actuated in rotation about said central shaft, said motion output link flange means being connected, by way of a gearbox, to said motion input link flange means so as to be actuated in rotation about said central shaft, wherein said motion output link flange means is provided with a driving output connection interface configured to fittingly engage any of the uniform interfaces of any of the blocks of the robot and plug thereinto for transfer of mechanical forces and torque, electrical power, and communications; wherein the modular joint is individually provided, so as to constitute an independent unity, with a control system including sensing devices for sensing position and speed of the drive means, such as rotary drive means and digital encoder, wherein the control system is further provided with an integrated driver means that is configured to: enable sharing of command and control signals among a plurality of modular joints and a computer control means via a communication interface, and enable communication with the control system of the other modular joint and with the computer control means so as to enable automatic discovery and interpretation of any new modular joint when plugged into the modular robot, sharing features of a new modular joint with a module of the computer control means which generates a new set of parameters for the new modular robot configuration, and wherein the control system is configured to enable, by way of the computer control means PC, the definition of sets of Key Performance Indicators (KPIs), locally, at the modular joint level and, globally, at a robot control level. - a central shaft, wherein said central shaft comprises a wire hole suitable to allow accommodation and passage of wires and feed connections that enable flow of electric current, data and pneumatic or hydraulic fluids; - drive means (1,4) mounted on said central shaft; - a motion input link flange means; - a motion output link flange means; characterised in that said motion input link flange means being connected to said drive means (1,4) so as to be actuated in rotation about said central shaft, said motion output link flange means being connected, by way of a gearbox, to said motion input link flange means so as to be actuated in rotation about said central shaft, wherein said motion output link flange means is provided with a driving output connection interface configured to fittingly engage any of the uniform interfaces of any of the blocks of the robot and plug thereinto for transfer of mechanical forces and torque, electrical power, and communications; wherein the modular joint is individually provided, so as to constitute an independent unity, with a control system including sensing devices for sensing position and speed of the drive means, such as rotary drive means and digital encoder, wherein the control system is further provided with an integrated driver means that is configured to: enable sharing of command and control signals among a plurality of modular joints and a computer control means via a communication interface, and enable communication with the control system of the other modular joint and with the computer control means so as to enable automatic discovery and interpretation of any new modular joint when plugged into the modular robot, sharing features of a new modular joint with a module of the computer control means which generates a new set of parameters for the new modular robot configuration, and enable sharing of command and control signals among a plurality of modular joints and a computer control means via a communication interface, and enable communication with the control system of the other modular joint and with the computer control means so as to enable automatic discovery and interpretation of any new modular joint when plugged into the modular robot, sharing features of a new modular joint with a module of the computer control means which generates a new set of parameters for the new modular robot configuration, and wherein the control system is configured to enable, by way of the computer control means PC, the definition of sets of Key Performance Indicators (KPIs), locally, at the modular joint level and, globally, at a robot control level.