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A biped is an animal with two feet. A quadruped is "An animal which has four feet. (Usually confined to mammals, and excluding four-footed reptiles.) " From the OED. The word quadruped is also applied specifically to the horse.
Aug 14, 2015
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Bipedal locomotion​​ Our two-legged walking makes us unique. Other mammals, like your pet dog or cat, usually walk on all four legs, which we call quadrupedalism.