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This paper introduces the quadruped robot called HUNTER (Hanyang UNiversity TEtrapod Robot), its control and dynamic simulation of trot gait. HUNTER has three active joints and two passive spring joints at each leg. The design of this leg is based on the biological analysis of a typical 4 legged-animal, a dog. Passive joints on the legs are designed to reduce the ground impact when they land on the ground and to be able to store and reuse the energy with use of springs. All the design parameters of the structure as well as actuators are selected based on its dynamic simulations. In this work, the results of simulating the dynamic trots are also described.