The prototype of Double Pendulum Robot is rotary double inverted pendulum, which have 3 degree of freedom with single control input, is a kind of typical underactuated control system. Double Pendulum Robot has 4 equilibrium points: DownDown, DownUp, UpDown, UpUp. Aiming at the motion control problem from UpUp inverted point to DownDown hanging point, Human Simulated Intelligent Control theory based SensorMotor Intelligent Schema is introduced. Firstly, by using the theory, control task decomposition and control mode division were applied to target process, and 4 control phases were obtained: initial disturbance phase, inner rod slowdown phase, inner rod stable and outer rod amplitudelimited phase, and both rods balance control phase. Then, perception schema, motion schema, associated schema were designed for each control phase. Finally, realtime control experiment is performed on the device of Double Pendulum Robot, and the effectiveness of proposed control method is confirmed.