Abstract: The HERO Mobile Robot body is made of 8 joints, a PLC, and a wireless communication device. Its controller is based on an advanced PC and control software system, which uses the windows' multi-threads, wireless RS232 communication, WinSocket network programming interfaces, and OpenGL simulative technology. The structure of hardware and software of the Mobile Robot is introduced, and the functions of the modules of the software are also described. The control system can interpret robot task program and drive robotic body running, according to the teaching instructions or programs. This control system can also implement off-line programming. When robot running, a client PC in LAN can simulate the robotic current attitudes real-timely.