The　gait　control　of　a　quadruped　robot　is　the　key　to　the　robot＇s　movement　in　complex　terrain.　In　order　to　realize　the　stable　motion　of　the　quadruped　robot　on　special　terrains　such　as　slopes,　the　hopf　oscillator　is　used　as　the　central　mode　generator　to　control　the　gait　of　the　quadruped　robot.　The　output　of　the　oscillator　is　converted　into　the　trajectory　of　the　foot,　the　trajectory　of　the　foot　is　adjusted　by　sensory　feedback,　the　gait　phase　is　switched　by　detecting　the　pressure　of　the　foot,　and　the　virtual　model　is　used　to　control　the　movement　of　the　foot　along　the　given　trajectory　to　achieve　Stable　motion　of　a　quadruped　robot.　The　simulated　quadruped　robot　is　built　on　the　WEBOTS　platform　and　verified　by　experiments.　The　results　show　that　the　improved　gait　controller　can　achieve　smooth　and　compliant　motion　for　the　quadruped　robot　on　flat　ground　and　slopes.　©　2023　IEEE.