The article provides a comprehensive review of quadruped robots, focusing on their structure, control, and autonomous motion. Quadruped robots, known for their unique point-contact ability and adaptability to complex terrains, have gained significant attention in automation and robotic engineering. The research highlights advancements in structural design, motion planning, and balance control, while also addressing challenges such as enhancing dynamic performance, environmental adaptability, and payload capacity. The article discusses the advantages of quadruped robots over wheeled and tracked robots, particularly in navigating uneven and challenging terrains. It emphasizes the importance of the number of legs, with quadruped robots offering superior carrying capacity and stability compared to bipedal and hexapodal robots. The structure of quadruped robots is detailed, including the use of hydraulic, motor-driven, and pneumatic drive systems, each with its own advantages and limitations. In terms of control strategies, the article covers motion planning methods like gait generation using CPG, SLIP, ZMP, and Bezier curves, as well as model-based and model-independent control methods. The gait generation methods are explained, highlighting their effectiveness in generating stable and efficient movements. The control strategies are categorized into model-independent methods, such as CPG and neural networks, and model-based methods, including SLIP, VMC, ZMP, and MPC. The article also explores the topology and foot structure of quadruped robots, discussing the impact of these designs on mobility and adaptability. It concludes by emphasizing the ongoing research efforts to improve the dynamic performance, environmental adaptability, and overall robustness of quadruped robots, providing valuable insights for researchers and practitioners in the field.The article provides a comprehensive review of quadruped robots, focusing on their structure, control, and autonomous motion. Quadruped robots, known for their unique point-contact ability and adaptability to complex terrains, have gained significant attention in automation and robotic engineering. The research highlights advancements in structural design, motion planning, and balance control, while also addressing challenges such as enhancing dynamic performance, environmental adaptability, and payload capacity. The article discusses the advantages of quadruped robots over wheeled and tracked robots, particularly in navigating uneven and challenging terrains. It emphasizes the importance of the number of legs, with quadruped robots offering superior carrying capacity and stability compared to bipedal and hexapodal robots. The structure of quadruped robots is detailed, including the use of hydraulic, motor-driven, and pneumatic drive systems, each with its own advantages and limitations. In terms of control strategies, the article covers motion planning methods like gait generation using CPG, SLIP, ZMP, and Bezier curves, as well as model-based and model-independent control methods. The gait generation methods are explained, highlighting their effectiveness in generating stable and efficient movements. The control strategies are categorized into model-independent methods, such as CPG and neural networks, and model-based methods, including SLIP, VMC, ZMP, and MPC. The article also explores the topology and foot structure of quadruped robots, discussing the impact of these designs on mobility and adaptability. It concludes by emphasizing the ongoing research efforts to improve the dynamic performance, environmental adaptability, and overall robustness of quadruped robots, providing valuable insights for researchers and practitioners in the field.