论述了由嵌入式计算机组成的3 层仿人机器人控制系统，并详细介绍了其中的关节控制器。控制系统实行逐级控制，任务分散，提高了机器人的智能化程度。关节控制器选用TM320F2811 型数字信号处理器作为处理器，具有全数字型、集成度高、体积小、功耗低、可实现多轴运动控制的特点。关节控制策略采用模糊PD 结合传统PI 调节的算法，实验结果表明这种控制算法具有较强的快速性、精确性、鲁棒性。关键词：仿人机器人；计算机分层控制；关节控制；模糊控制；DSPAbstract: A type of humanoid robot control system with 3-levels frame composed of embedded computers was introduced in detail, and the joint controller in the system was discussed. The control system distributes tasks to all embedded computers among 3levels, so that the intelligent degree of robot is enhanced. The joint controller based on DSP TMS320F2811 features: full digital control, high integration level, small size, low power dissipation, multi-axis motion control. Control algorithm used by the joint controller is fuzzy PD algorithm combined with conventional PI algorithm. Experimental results showed that this control algorithm had better tracking performance, accuracy and more robustness.Key words: humanoid robot; multi-levels computer control; joint control; fuzzy control; DSP