Abstract: A control system based on DSP2812 was designed for a new miniature bipedal climbing robot, adopting the bipedal suction feet and an under-actuated mechanism with three motors to drive five joints. The suction feet make the robot available to climb on a smooth plane or ceiling and transit the passage between two inclined surfaces. The under-actuated mechanism can reduce the number of motors required hence the robot size/weight and power consumption. However, it imposes challenges on robot control and motion planning. The motion mode, joint control, communication module and suction cup foot control have all been designed, and the experimental results have verified the validity of the design scheme proposed.