We present a geometry-driven embedded controller for quadruped locomotion that blends short step vectors into continuous trajectories and biases the center of mass (CoM) toward a geometry-derived reference point. The framework unifies stance-swing scheduling, safety envelopes, and a static CoM-based offset mechanism, allowing smooth transitions across standing, posture editing, and locomotion. Implementation on a microcontroller-driven quadruped platform shows that the controller consistently converges the CoM towards geometric target and preserves phase continuity during both linear and turning motion, demonstrating embedded feasibility and phase-continuous locomotion under a lightweight geometric CoM guidance scheme.