This article describes the quadruped robot gait generator algorithm based on the central pattern generator (CPG). The proposed architecture uses CPG as a phase signal generator for each leg, and a mapping function that builds the desired trajectory for the robot feet. The algorithm is able to change the gait type smoothly in real time, and also do the same with movement direction, frequency, height and length of the stride. In order to test the performance of the algorithm, experiments were carried out both in the simulation and on the real robot. The results show the efficiency of the algorithm and its ease of implementation.