The invention discloses a robot chassis control method, a controller and a robot control system. Through obtaining control signals, which includes steering signals and braking signals, input by a user, calculating the wheel speed difference of an inner wheel and an outer wheel of a robot chassis, calculating the torques of the driving wheels according of the wheel speed difference of the inner wheel and the outer wheel of the driving wheels, and outputting the torques of the driving wheels, the electric differential speed control of the driving wheels of the robot chassis is realized. According to the invention, through electric differential speed control of the driving wheels, specific regulation of each driving wheel is realized. A differential mechanism in the prior art is not needed. Average torque distribution for the two sides is realized and a condition that a robot slips or becomes out of control due to unreasonable torque distribution is avoided.