Mobile robotic system, capable of moving, including N articulated structures connected to one another pairwise in series so as to form a loop, N being a positive integer greater than or equal to 3, each articulated structure, also called quadrant (Q1, Q2, Q3), including: - at least two successive limbs, including a first limb, also called torso (T1, T2, T3), and a last limb, two successive limbs of the quadrant being connected to one another by a joint enabling at least one rotation about an axis, and - a joint, also called quadrant end joint (AQ1, AQ2, AQ3), the quadrant end joint of a quadrant linking the last limb of said quadrant to the torso of the next quadrant, at least one quadrant of the robotic system includes four successive limbs, including: - the torso (T1, T2, T3), - a second limb, also called shoulder (E1, E2, E3), linked to said torso by a joint, also called first joint, enabling a rotation about an axis, also called first axis (Z11, Z12, Z13), - a third limb, also called arm (B1, B2, B3), linked to said shoulder by a joint, also called second joint, enabling a rotation about an axis, also called second axis (Y21, Y22, Y23), the second axis being orthogonal to said first axis, - a fourth and last limb, also called forearm (AB1, AB2, AB3), linked to said arm by a joint, also called third joint, enabling a rotation about an axis also called third axis (Y31, Y32, Y33), said third axis being parallel to said second axis (Y21, Y22, Y23), the robotic system including actuating means configured to move all or part of the joints of the quadrants, characterized in that the actuating means include, at the quadrant with four successive limbs: - a motor configured to drive the first joint of said quadrant, - two motors (M2, M3) configured to drive two joints selected from among the second joint, the third joint and the quadrant end joint, and - a system of pulleys and belts or cables linking the second joint, the third joint and the quadrant end joint. each articulated structure, also called quadrant (Q1, Q2, Q3), including: - at least two successive limbs, including a first limb, also called torso (T1, T2, T3), and a last limb, two successive limbs of the quadrant being connected to one another by a joint enabling at least one rotation about an axis, and - a joint, also called quadrant end joint (AQ1, AQ2, AQ3), - at least two successive limbs, including a first limb, also called torso (T1, T2, T3), and a last limb, two successive limbs of the quadrant being connected to one another by a joint enabling at least one rotation about an axis, and - a joint, also called quadrant end joint (AQ1, AQ2, AQ3), the quadrant end joint of a quadrant linking the last limb of said quadrant to the torso of the next quadrant, at least one quadrant of the robotic system includes four successive limbs, including: - the torso (T1, T2, T3), - a second limb, also called shoulder (E1, E2, E3), linked to said torso by a joint, also called first joint, enabling a rotation about an axis, also called first axis (Z11, Z12, Z13), - a third limb, also called arm (B1, B2, B3), linked to said shoulder by a joint, also called second joint, enabling a rotation about an axis, also called second axis (Y21, Y22, Y23), the second axis being orthogonal to said first axis, - a fourth and last limb, also called forearm (AB1, AB2, AB3), linked to said arm by a joint, also called third joint, enabling a rotation about an axis also called third axis (Y31, Y32, Y33), said third axis being parallel to said second axis (Y21, Y22, Y23), - the torso (T1, T2, T3), - a second limb, also called shoulder (E1, E2, E3), linked to said torso by a joint, also called first joint, enabling a rotation about an axis, also called first axis (Z11, Z12, Z13), - a third limb, also called arm (B1, B2, B3), linked to said shoulder by a joint, also called second joint, enabling a rotation about an axis, also called second axis (Y21, Y22, Y23), the second axis being orthogonal to said first axis, - a fourth and last limb, also called forearm (AB1, AB2, AB3), linked to said arm by a joint, also called third joint, enabling a rotation about an axis also called third axis (Y31, Y32, Y33), said third axis being parallel to said second axis (Y21, Y22, Y23), the robotic system including actuating means configured to move all or part of the joints of the quadrants, characterized in that the actuating means include, at the quadrant with four successive limbs: - a motor configured to drive the first joint of said quadrant, - two motors (M2, M3) configured to drive two joints selected from among the second joint, the third joint and the quadrant end joint, and - a system of pulleys and belts or cables linking the second joint, the third joint and the quadrant end joint. - a motor configured to drive the first joint of said quadrant, - two motors (M2, M3) configured to drive two joints selected from among the second joint, the third joint and the quadrant end joint, and - a system of pulleys and belts or cables linking the second joint, the third joint and the quadrant end joint.