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In order to realize the stable motion on rough terrain for quadruped robot, a new gait generating method based on stable margin was presented in this paper, which focus on implement of motion at a steady speed without fluctuation on body for the quadruped robot moving on the concave and convex terrain. Based on the structure of robot, kinematics equation and inverse kinematics equation of quadruped robot had been established, mapping the location of foot into the joint variables of each joint. A new concept-- working space matrix, had been proposed, which can reflect shape of leg’s work space and terrain parameters that robot should overcome. Taking longitudinal stability margin as the constraint condition,calculated effective footholds of the swinging leg in the working space matrix based on footholds of supporting legs in centroid coordinates. Then, selected the biggest step and planed trajectory of swinging leg in working space matrix, guaranteeing foot of swinging leg working in its workspace. It verified the proposed method by MATLAB and ADAMS. It was observed whether COG moved in the supporting polygon formed by the foothold in the MATLAB while the posture and displacement of body in the coordinated system were analyzed in the AdAMS. The simulation results showed that the robot's COG was always within the support polygon, while the robot's posture and movement speed were similar to the expectations. Therefore, the proposed method could guarantee the stability of the robot to walking on rough terrain and put forward basis theory for the stability movement of the quadruped robot