In order to reduce the cost and to improve the design efficiency, the simulation of the quadruped robot was made. Pro/E was used to build the three dimensional (3D) model of the robot, then it was put into the ADAMS software of virtual prototype to build the mechanical system model, and Matlab/Simulink toolbox was used to build the control system. The interface between them is used to do the coordinated simulation and to verify the feasibility of the design.