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In this paper, we realize a new real-time humanoid robot control system based on dual network. The dual network method consists of two communication protocols: high speed IEEE 1394, and high stable controller area network (CAN). We enhanced the efficiency of control network system, and the network transformation board for consisting of dual network was developed. The control network method is validated in robot control system of mobile humanoid robot MAHRU-M. The robot is the latest prototype model which remains a mobile humanoid type and is expanding its capabilities for the adaptability in home service environment.