The present disclosure relates to a channel configuration method for communication between the main controller of the robot and the at least one node of the robot, including: receiving at least one description message transmitted from at least one node via a broadcast channel, confirming a channel according to the description message of the node, wherein a main controller communicates with the node via the channel, and transmitting at least one channel configuration message via the broadcast channel. The channel configuration message carries the description message of the node and a description message of the channel. The main controller may communicate with the node via the channel.