To promote the deployment of quadrupedal robots, this study proposes a novel bio-inspired control scheme. Specifically, inspired by the differentiated modalities of the animal's proximal and distal joints, a multi-model fusion scheme is constructed. First, the hip movement in joint space is obtained by a central pattern generator(CPG), whereby motion gaits, including trotting and galloping, are generated by a coupling network. Then, to generate the knee motion, a CPG-driven finite state machine is first proposed to determine the gait state.