Abstract: According to the requirements of humanoid robot control performance,a joint controller is designed and realized,and a distributed control system based on CAN(Control Area Network) is built by connecting all joint controllers,force sensors,task management computer and upper limbs control computer together.Furthermore the transmission of voice and video multimedia information is realized with wireless LAN(Local Area Network).The monitor desk,the head,the upper part of the body and the mobile platform are connected together,and the whole control system of the humanoid robot is constituted.Finally,some proposals are put forward to enhance performance of the control system.