: an animal having four feet.

What is it called to walk on four feet?

Quadrupedalism is a form of terrestrial locomotion where a tetrapod animal uses all four limbs (legs) to bear weight, walk, and run. An animal or machine that usually maintains a four-legged posture and moves using all four limbs is said to be a quadruped (from Latin quattuor for "four", and pes, pedis for "foot").

What's the difference between quadrupedal and bipedal?

As adjectives the difference between bipedal and quadrupedal

is that bipedal is having two feet]] or two [[leg|legs; biped while quadrupedal is walking on four feet.