Control system of humanoid robot

The invention relates to a control system of a humanoid robot. The control system is a distributed control system and comprises an upper computer, a lower computer and controllers for degrees of freedom of joints; the upper computer is wirelessly communicated with the lower computer by a Bluetooth module, the controllers for the degrees of freedom of the joints are connected with the upper computer and the lower computer by a communication circuit, the upper computer mainly comprises a single-board computer with an SBC-FITPC2i driver as a core, and the lower computer mainly comprises an ARM7 [advanced RISC (reduced instruction-set computer) machine 7] controller with an STM32F103RB chip as a core; and the controllers for the degrees of freedom of the joints are digital actuators. The Bluetooth module is connected with an ARM controller of the lower computer. The control system has the advantages of complete functional design, reasonable structural design, low power consumption, integration of control, sensing and communication, low upgrading cost and capabilities of being used for further migrating and developing a robot system and reducing the redevelopment cost.