In this paper, a control system based on Arduino is designed. The control system takes ATmega328P as the master control chip, STM32F103C8T6 as the slave computer control chip, and the communication is realized through the serial port mode. The advantages of the two control chips are integrated. This paper introduces the design scheme of the control system from two aspects: hardware and software. The real experiments demonstrateed the bionic six legged robot can achieve automatic posture adjustment ability, stable walking, and reliable obstacle avoidance ability. The content of this article can provide reference for the research work in the relevant fields.