In the created robot drama, a turtle robot plays an important role. The coordinated quadrupedal gait is the key factor to complete the its performance on the stage. Through indepth observation of an actual turtle’s movement, we analyzed the characteristics of its gait and summarized the rules of the movement. Then, we proposed a bioinspired coordinated planning method for quadrupedal gait. The analytical inverse kinematics equation was derived, and the trajectory of foot (the end of leg) was also resolved into the motion of each joint of the leg. The generated joint angles were taken as the expected values of joints’ servo controllers. In order to verify the proposed method, a dynamic simulation system based on Webots software was developed and simulation study on typical gaits was performed. Finally, using the manufactured robotic prototype, we completed several experiments on coordinated quadrupedal gait planning. The results showed that the proposed method is effective for robotic drama performance.