The kinematics modeling and analysis of the quadruped robot were carried out, and the forward and inverse kinematics solutions were derived. The gait planning of the robot foot end trajectory was carried out based on the quintic polynomial. The driving functions of the diagonal gait and triangle gait of quadruped robot were calculated. Triangle gait and diagonal gait were simulated in ADAMS. Finally, the prototype was made and tested. By comparing the simulation results of triangle gait and diagonal gait with the test results of prototype, the correctness of the theoretical derivation and calculation was verified.