As opposed to Humans, Ostriches and Tyrranosauri bipeds?
Perhaps polypeds, which happens to be a word in the dictionary, but it does not mention the gait
Wikipedia has this to say
The number of locomotory appendages varies much between animals, and sometimes the same animal may use different numbers of its legs in different circumstances. The best contender for unipedal movement is the springtail, which while normally hexapedal, hurls itself away from danger using its furcula, a tail-like forked rod that can be rapidly unfurled from the underside of its body.
A number of species move and stand on two legs, that is, they are bipedal. The group that is exclusively bipedal is the birds, which have either an alternating or a hopping gait. There are also a number of bipedal mammals. Most of these move by hopping – including the macropods such as kangaroos and various jumping rodents. Only a few mammals such as humans and the ground pangolin commonly show an alternating bipedal gait. Cockroaches and some lizards may also run on their two hind legs.
With the exception of the birds, all terrestrial vertebrate groups with legs are mostly quadrupedal – the mammals, reptiles, and the amphibians usually move on four legs. There are many quadrupedal gaits. The most diverse group of animals on earth, the insects, are included in a larger taxon known as hexapods, most of which are hexapedal, walking and standing on six legs. Exceptions among the insects include praying mantises and water scorpions, which are quadrupeds with their front two legs modified for grasping, some butterflies such as the Lycaenidae (blues and hairstreaks) which use only four legs, and some kinds of insect larvae that may have no legs (e.g., maggots), or additional prolegs (e.g., caterpillars).