The research area of bio-inspired control methods for multi-legged robots and reptile robots has made significant development with the use of central pattern generators (CPGs) in recent years. However, there are still many problems to be solved to learn clearly the structure of CPG to adapt it to different applications. In this article, we use a method to configure CPG which makes the CPG have adaptive frequency according to the existing researches. Thus, the frequency of CPG can be changed automatically via the feedback of external limit cycle driving signals. Also, we try to explain the CPG of adaptive frequency from a dynamical way. Then we construct a new CPG method for locomotion control of quadruped robots. Finally we make simulations to verify the CPG locomotion control method on a quadruped model in the software of Adams.