According to the structure of human leg muscles, the Dingguo Zhang’s CPG model was modified. The CPG model was based on neural oscillator theory,which was developed from the combination of neuroscience and biomechanics’s perspective.The modified CPG model can overcome the limitations of movement that only reflect the rhythm of single leg,and can show the rhythm and harmony of two legs in gait movement,which is more approximate to the reality.By numerical simulation,the gait movement patterns were obtained.The result shows the rhythm characteristic of human gait movement,and can reflect the nervous system's regulatory role in human rhythm gait movement.