Chinese medical massage robot, developed for degenerative disease and chronic disease, has accuracy fixed position, fast response, and high reliability. For the robot, a kinematics model is set up, and a locomotion control system with certain autonomy, which is based on TRIO464 and PC104, is put forward and designed. Upper computer supports mission planning and monitors the robot motion. Lower computer resolves motion command, controls and drives the robot motion. Clinical trials show the feasibility and stability of the robot locomotion control system.