Biped robot requires that an energy source and a control part should be installed on the body to realize active system. So, we choose the DC motor having high torque in compact size in this study. In the DC motor serve system, we choose power amplifier with analog configuration, developed the module combined the controller and the driver. We applied this module to robot actuator and studied the response characteristics in an action and a return. Main controller with serve system, loading PIC micro controller, can be load on the robot with light weight.