Based on Matsuoka’s central patt generator(CPG)model and taking quadmped as an example,the dynamics of CPG model was investigated throush the single-parameter-analysis method and the numerical simulation technique.Simulation results indicate that the CPG model exhibits complex dynamics,while each parameter has specifically definitive influenco trends on the CPG output.These conclusions re applied to control a quadrupedal robot to walk in different gaits,clear obstacle,and walk up-and down-slope successfully.