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In view of problem that AmigoBot mobile robot did not support local programmable control and was only a network terminal, the paper proposed a design scheme of upper computer control system of AmigoBot mobile robot based on OMAP3530 and Android embedded platform. It gave hardware and software structure of the system, and introduced process of transplanting Android system on OMAP3530: firstly, clipping Android system to make its core function modules not only meet with requirements of the system, but also be irredundant;then designing application softwares of Aria control software and wireless communication of AmigoBot mobile robot on the basis of clipped Android system. The experiment result showed that the system solves problem of local control and improves expanding ability of AmigoBot.