Mobile robots controller based on ARM micro-controller is proposed in this project. CMx Controller is based on ROBOTIS.LTD,. CM9.04 and can control both of TTL (3Pin) and RS485( 4Pin) Dynamixels. Self boot-loader is based on USB 2.0 make easy programing. For more compatibility with humanoid robot device manager and controller, an GY-80 10-DOF IMU is adopted for extract quaternian absolute angle of the board using I2C interface. The controller is able to comunicate throgh USB in full speed.