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Working heavily in complex environment requires the electro-hydraulic servo systems of hydraulic quadruped robots higher demands in precision, speed and strength than ordinary systems. For learning the force situation of the cylinders and the flow/pressure fluctuation of the hydraulic system in multiple situations, it is a need to make up a co-simulation model for machinery dynamics and hydraulic servo systems, which helps for qualitative analysis of location and velocity features of the electro-hydraulic servo systems, and also analyzing the characteristics and limitations of PID controller in robot servo control. Based on solving the shortcomings of ordinary control algorithm, a fuzzy adaptive PID control algorithm with asymmetric feedforward compensation was established to meet the electro-hydraulic servo characteristics, which had been verified effective by physical prototype test. The conclusions indicate the design of hardware/software and motion control algorithm with decisions and data supports for smooth gaits control strategy of the electro-hydraulic quadruped robot.