In this paper, we describe a telemetry stimulation system that controls animal-robots. In our system, we send the main control command from PC to the controller embedded in the pigeon based animal-robots. Once the controller receives the control signal, it makes biphasic stimulation pulses to medial forebrain bundle neurons to control the pigeon behavior as we want. We design the embedded controller using CUBLOC, which is lightweight for attaching on the pigeon.