Abstract: The paper discussed working environment of mine-used rescue robot and performance requirements of its control architecture, introduced control architectures of existing mine-used rescue robot including closed control architecture based on industrial control computer, distributed control architectures based on PLC, industrial control computer and embedded system, and analyzed their advantages and disadvantages. It proposed a distributed control architecture based on embedded system and CAN bus, which is more adaptive to complicated environment in coal mine underground than the existing architectures and is especially suitable for disaster rescue of coal mine.