Vision is an important means of the humanoid robot to get external environmental information; vision system is an important part of humanoid robot. The system of a humanoid robot with the functions of visual perception and object manipulation is very complex because the body of the humanoid robot possesses many joint units and sensors. Two computers linked by Memolink communication unit is adopted to meet the needs of real time motion control and visual information processing tasks. The motion control system included coordination control computer, the distributed DSP joint controllers, DC motor drivers and sensors. Linux and real-time RT-Linux OS are used as the operating system to achieve the real-time control capability.