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In the control of biped robots, the cooperative control of multi-step motors is the core. This paper presents the current research status of multi-motor cooperative control system, and adopts "ARM+FPGA" as the control core system scheme to complete the design of multi-motor cooperative control system. The system structure of the control system ARM+FPGA (Advanced RISC Machine，Field－Programmable Gate Array) is introduced, and the design of the STM32 control program and the hardware and software design of the FPGA are realized. The control system adopts the combination of upper and lower computer to design the running parameters of the stepping motor in the upper machine interface, and monitors the running status of each stepping motor. The cooperative control of multiple motors is completed under the division of labor between STM32F103ZET6 and EP2C35F672C8N. According to the observation of the motion state of the robot and the analysis of the data displayed by the host computer, it can be clearly seen that the control system can synchronously, cooperatively and accurately control the multi-step motors in the biped robot.