quadrumanous

Having opposable first digits on both the feet and the hands, used for gripping and climbing. Many primates are quadrumanous.

Four-handed; having all four feet fitted for use as hands: said of mammals, as opossums, etc.; specifically, of or pertaining to the Quadrumana. Also quadrimanous.

Having four hands; of or pertaining to the Quadrumana.

Having four feet whose first digits are opposable; applies to all non-human primates.