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Abstract: This paper proposes a gait planning and control algorithm for the quadruped robot pet commercialized by Dasarobot, Korea. Reliable motion and online characteristics are the key requisites for the motion planning algorithm of a commercialized robot. At joint control level of the proposed gait control, sample-based interpolation makes joint trajectory tractable for small motor and controller of the miniaturized robot. Centroid body sway ensures walking stability to achieve reliability of the proposed gaits at the motion planning level. By using ground coordinates representation, it is possible to integrate several online gaits and realize a compact and efficient gait planning algorithm. Experimental results are presented to verify the proposed gait planning and control algorithm. [Copyright &y& Elsevier]