In order to reduce the impact of the ground force on the quadruped robot's jumping gait during takeoff and landing,the active compliance control method of quadruped robot's jumping gait was studied.The trajectory curve of the body's mass center of a five link coaxial quadruped robot's jumping gait was fitted by using cubic polynomial,the four stages of taking off,jumping,buffering and recovering were described by using different trajectory curve functions;PD controller was introduced to modify the trajectory curve of the body's center of mass landing phase and optimize the displacement response curve of the quadruped robot when landing,such as leg retraction buffer and recovery standing;a large number of repeated jumping experiments were carried out on the Webots simulation platform and the experimental prototype.The results show that by using the designed method, the smooth jumping of the quadruped robot can be better improved,and the motion stability of the robot can be effectively improved.