A method based on an optical fiber communication network for controlling a robot, wherein the optical fiber communication network is located inside the robot, the method comprising: (S301) converting an acquired electrical control signal of the robot to an optical control signal; (S302) broadcasting the optical control signal over a downlink of the optical fiber communication network ; (S303) filtering the optical control signal based on a port identifier to obtain an optical control signal corresponding to the port identifier; (S304) converting the optical control signal corresponding to the port identifier to an electrical control signal; and (S305) sending the electrical control signal to an actuator inside the robot, wherein the actuator corresponds to the electrical control signal; wherein before the optical control signal is filtered, the optical control signal is split by an optical distribution network (ODN); and wherein the (S303) filtering the optical control signal based on a port identifier to obtain an optical control signal corresponding to the port identifier comprises: by an Optical Network Unit (ONU) corresponding to the actuator of the robot, selectively receiving the optical control signal broadcast in the optical fiber communication network based on identifier information of an ONU port, so as to separate an optical control signal corresponding to the ONU port from the received optical control signal, wherein the identifier information of the ONU port one-to-one corresponds to a plurality of actuators inside the robot. (S301) converting an acquired electrical control signal of the robot to an optical control signal; (S302) broadcasting the optical control signal over a downlink of the optical fiber communication network ; (S303) filtering the optical control signal based on a port identifier to obtain an optical control signal corresponding to the port identifier; (S304) converting the optical control signal corresponding to the port identifier to an electrical control signal; and (S305) sending the electrical control signal to an actuator inside the robot, wherein the actuator corresponds to the electrical control signal; wherein before the optical control signal is filtered, the optical control signal is split by an optical distribution network (ODN); and wherein the (S303) filtering the optical control signal based on a port identifier to obtain an optical control signal corresponding to the port identifier comprises: by an Optical Network Unit (ONU) corresponding to the actuator of the robot, selectively receiving the optical control signal broadcast in the optical fiber communication network based on identifier information of an ONU port, so as to separate an optical control signal corresponding to the ONU port from the received optical control signal, wherein the identifier information of the ONU port one-to-one corresponds to a plurality of actuators inside the robot. by an Optical Network Unit (ONU) corresponding to the actuator of the robot, selectively receiving the optical control signal broadcast in the optical fiber communication network based on identifier information of an ONU port, so as to separate an optical control signal corresponding to the ONU port from the received optical control signal, wherein the identifier information of the ONU port one-to-one corresponds to a plurality of actuators inside the robot. <EOS>