In this paper, a high dynamic humanoid manipulator with DSP/FPGA-FPGAs hardware structure is designed to meet the demand of high-speed response required by playing ping-pong game. The manipulator integrates several sensors in each joint unit, and the controller is divided into two levels. The upper level mainly solves the kinematics and trajectory planning in DSP, while the lower level realizes the joint control such as vector control and sensors data processing in FPGA. The two levels communicate with each other by multipoint low-voltage differential signaling (M-LVDS) serial data bus every 200μs. Experiments of the manipulator hitting the ping-pang are done to demonstrate the design of this arm. The results show that the arm can reach the speed of 2.2m/s, and it creates a record of 22 continuous hits of the ball with a human rival.