During the most recent years, a lot of research has been done in creating robots with more self-governance so that they can overcome the challenges that real world environments present. The robot's limited versatility in real world applications can be overcome by the development of Legged robots. Also, as they permit movement in unavailable territory to robots with wheels, Legged Robots are more advantageous. But the potency of the legged robots explicitly its energy usage among alternate points of view really fall behind robots that use wheels. So, the present status of development, there are as yet a few perspectives that need to be analysed, optimized and enhanced. This paper presents review of literature of various biologically inspired legged robots, various techniques adopted for their analysis and optimization and the analysis and optimization of the ones that are not biologically inspired