Abstract The central pattern generator (CPG), the bionic control method, is used to control the open-chained robot. In this paper we mimic desert spider which has a variety of movements, to design a biomimetic spider robot with double-six-bar-close-chained 5R mechanism. The biomimetic spider robot has 16 active joints controlled by DC servo motors. CPG based on Hopf oscillator model is built for generating three gaits of handspring, crawling, handspring and conducting gait switching of the spider biomimetic robot. The Dynamic simulations of multi-mode motions of the biomimetic spider robot are carried onusing MATLAB and ADAMS. The results show that robot can execute handspring, crawling, cartwheeling continuously and smoothly. , the bionic CPG control method applied to multi- model motions control of close-chained robot is verified feasibility.