Abstract: The principle of DSP chip TMS320LF2407 is introduced,and a multi-joint servo controller based on CAN bus is presented.In view of the application of quadruped bionic robot joint control,we adopt a streamline sampling strategy and the adaptive fuzzy control rules with modifiable function in DSP software.The experiment shows that these methods can effectively overcome such control defects as coupling,nonlinear moment,etc.in robot joint trajectory tracking control.The integration of control and driving increases the speed and load volume of mobile robots.