Using　FSM　(Finite　State　Machine)　theory　as　the　foundation,　based　on　the　MATLAB　/　Stateflow　graphical　behavior　description　method,　realizes　the　wheeled　robot　dance　behavior　modeling,　design　of　the　wheeled　mobile　robot　behavior　control　logic.　The　simulation　results　show　that　the　simulation　model　can　be　constructed,　simulated　robot　dance　behavior　of　the　actual　process;　the　logic　control　method　can　realize　the　wheeled　robot　dance　planning.　And　the　modular　design　of　concise　and　clear,　design　and　debugging　time　is　greatly　reduced,　cost　is　reduced,　operation　controllability　enhancement,　It　can　provide　the　theoretical　basis　for　wheeled　robot　dance　planning.