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In order to improve the dynamic stability of the quadruped robot in the trot, an inverted pendulum model can be given by simplified the trotting. The center of gravity of the robot isn’t always up of the supporting diagonal which causes the turning. In the model, the turning angle is changed into the swinging angle which is caused by the Gravity. By using the principle of vitual displacement analysis of the influence of the center of gravity position on the swing angle error, a special point is found, which can make sure the robot swing error angle to be zero at the end of the swing. Dynamic simulation experiments show that the quadruped robot can run a stable trotting which verify the validity of the proposed planning method.