Aiming　at　quadruped　robots＇　difficulty　stabilizing　motion　in　unstructured　terrain,　the　paper　proposes　a　vision-independent　terrain　sensing　and　stiffness　adaptive　control　scheme.　The　robot　state　is　utilized　to　predict　the　external　environment　and　suppress　the　high-frequency　jittering　of　the　body　in　undulating　environments　to　improve　the　anti-interference　ability.　In　addition,　a　stiffness　adaptive　controller　is　designed　by　combining　impedance　theory,　which　improves　the　convergence　speed　of　control　deviation　and　enhances　the　dynamic　stability　of　the　robot　by　solving　the　optimal　stiffness　variation　law.　The　final　simulation　results　show　that　the　method　proposed　in　this　paper　significantly　improves　the　robot＇s　adaptation　to　the　terrain　and　motion　smoothness.　©　2024　IEEE.