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This paper presents the extraction of characteristics of the organ action and the design for multi-motor motion planning. Through the motion controller, the coupling of multi-motor movement is achieved and head movement and expression functional is completed. To improve system dynamic performance, this article also describes the hardware debugging of the multi-motor coupling control. This paper finishes two kinds of action and expression design of robot head, including greeting and action. This research has a strong practical value and a certain degree of innovation.