Growing Functional Modules (GFM) is a recently introduced paradigm conceived to automatically generate an adaptive controller which consists of an architecture based on interconnected growing modules. When running, the controller is able to build its own representation of the environment through acting and sensing. Due to this deep-rooted interaction with the environment, robotics is, by excellence, the field of application. This paper describes a hardware architecture designed to satisfy the requirements of the GFM controller and presents the implementation of a simple mushroom shaped robot.