Recent　developments　in　driving　mode　have　heightened　the　need　for　quadruped　robots.　However,　it　is　still　a　challenge　to　improve　the　dynamic　characteristics.　This　paper　makes　a　comprehensive　review　of　the　quadruped　robot　driving　mode,　from　two　aspects:　hydraulic　drive　and　motor　drive.　The　application　of　hydraulic　drives　in　quadruped　robots　is　relatively　mature.　As　motor　performance　is　improving,　interest　in　motor　driving　mode　for　quadruped　robots　is　growing　rapidly.　Specific　quadruped　robots　of　milestone　significance　are　presented　in　different　driving　modes.　The　performance　in　load　capacity　and　motion　characteristics,　in　different　driving　modes,　are　compared.　Finally,　the　research　difficulties　in　the　field　of　quadruped　robots　are　analyzed,　while　future　development　of　the　quadruped　robot　shows　high　prospects.　The　purpose　of　this　paper　is　to　summarize　and　analyze　the　previous　research　results　and　provide　useful　guidance　for　robot　designers　in　developing　more　efficient　driving　modes　for　quadruped　robots.