The Controller Area Network (CAN) is being widely used for real-time control application and small-scale distributed computer controller systems. When the stuff bits are generated by bit-stuffing mechanism in the CAN network, it causes jitter including variations in response time and delay In order to eliminate this jitter, stuff bits must be controlled to minimize the response time and to reduce the variation of data transmission time. This paper proposes the method to reduce the stuff bits by restriction of available identifier and bit mask using exclusive OR operation. This da manipulation method are pretty useful to the real-time control strategy with respect to performance. However, the CAN may exhibit unfair behavior under heavy traffic conditions. When there are both high and low priority messages ready for transmission, the proposed precedence priority filtering method allows one low priority message to be exchanged between any two adjacent higher priority messages. In this way, the length of each transmission delays is upper bounded. These procedures are implemented as local controllers for the ISHURO(Inha Semvung Humanoid Robot).