General terms:
* Quadrupedal: This is the most accurate and scientific term.
* Four-legged: A straightforward description.
* Crawling: This implies a lower, more dragging motion than walking.
* Ambulating: A more formal word for "walking" that could be used in a scientific context.
Specific animal terms:
* Galloping: For horses, this is a specific type of four-legged movement.
* Trotting: Another specific type of horse movement.
* Slithering: For snakes, which move without legs.
* Scurrying: For small animals like mice, often used for fast, nervous movement.
Figurative language:
* On all fours: This is an idiom that describes the position, not the movement specifically.
* Crawling around: This can be used metaphorically to describe a person acting humbly or in a low position.
The best word depends on the context and the specific animal or action you are describing.