This paper describes the aspects involved in modelling a multi-robot system from a human motor control perspective. The human motor control system has a hierarchical and decentralised structure, and building a control system for a multi-robot system that attains human features would require a decomposable model. Decomposition of a complex robotic system is difficult due to the interactions between the subsystems, so these have to be first separated before the system is modelled. The proposed method of separating the interconnections is applied with the aid of fuzzy modelling to derive a fully decomposable model of two manipulator robots handling a common object.