Abstract: An automaton system (10) adapted for moving on a surface (S) including: movement means (1) for moving the automaton system on said surface, and actuation means (2) attached to the movement means (1) adapted for acting on the surface, wherein the movement means (1) are adapted for being supported on the surface at a fixed height (h), and in that the actuation means (2) are attached to the movement means (1) by means of an adaptation structure (3), such that the adaptation structure (3) allows the actuation means (2) to act on the surface (S) perpendicular to the tangent of the surface (S) at a point of actuation (A).