1. A method of controlling motion of a robot system wherein the robot system includes a plurality of individual wheeled robot modules interconnected by at least one partially compliant member, the method comprising: developing at least one scalable kinematic model corresponding to one of the plurality of individual wheeled robot modules; deriving a system kinematic model of the robot system based on a combination of the at least one scalable kinematic model and stiffness properties of the at least one partially compliant member; and translating a planned motion of the robot system into planned motions of the plurality of individual wheeled robot modules using the system kinematic model.