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With increasing demand of robot applications in industry or other areas, the development of both reliable and low-cost robot action control system is getting much attention in recent years. This paper has proposed a local closed-loop based humanoid robot action control module using independent microprocessors. The robot action commands transmitted from PC via RS232 can be received by the individual authorized microprocessor. There are up to tens of modules to be operated for a variety of robot actions simultaneously and independently. Real world performance results are presented to demonstrate the effectiveness of the proposed approach in term of robust, simple, flexible and efficient performance.