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Fire accidents occurred frequently in recent years.,Fire safety problems can not be guaranteed. “Machine substitution”, this concept is an important means of disposal of fire rescue and development trend, the fire fighting robot research and development on the basis of effective relief to the safety of fire protection personnel. Aiming at the scene of the fire of the complexity of the environment,The hardware circuit of the motor drive system is designed and the MATLAB simulation is carried out for the walking control system. Implementation and optimization of the fire fighting robot obstacle avoidance and turning function. The main part of the motor drive and the whole system software design process. Through the test, to verify the reliability of the control scheme of walking.