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To solve the problem existed in relative essays that static gait planning methods can’t embrace enough stability margin and velocity continuity simultaneously,a new static gait which the centroid of quadruped robot move along curved line was planned based on a widely used static gait. The new static gait can move in continuous velocity with enough stability margin. After establishing kinematic model of the quadruped robot by using D-H method,the parametric coordinate transformation matrices were derived and the foot motion trajectories of four legs could be solved in three-dimensional space. Joint angle equation were solved by computing in MATLAB software. Finally,the virtual prototype of quadruped robot was built in MSC.ADAMS and simulation of the new static gait was completed. The result of simulation proved that the new static gait can improve stability of quadruped robot’s movements and velocity continuity effectively. 