The　efficiency　index　is　an　important　evaluation　basis　to　measure　the　research　level　of　quadruped　robot.　For　scientific　evaluation　of　quadruped　robot　with　numerous　indexes,　the　research　is　finished　which　includes　efficiency　evaluation　index　system,　comprehensive　evaluation　method　and　evaluation　result＇s　analysis　three　parts,　and　the　theoretical　basis　for　robotic　design　and　improvement　is　provided.　First,　Analytic　Hierarchy　Process　(AHP)　is　used　to　build　quadruped　robot＇s　index　system,　describing　the　efficiency　from　the　abilities　of　survival,　motion,　operation,　and　environment　interaction　four　parts.　Then,　embedding　fuzzy　expert　evaluation　as　constraint　in　projection　pursuit,　modified　projection　pursuit　with　subjective　weight　constraint　is　established　which　combines　subjective　weighting　method　with　objective　weighting　method.　And　then,　based　on　the　comprehensive　evaluation　model,　by　analyzing　rule　hierarchy　and　index　hierarchy＇s　influences　on　its　efficiency,　SCalf　hydraulic　drive　quadruped　robot＇s　efficiency　are　listed　that　its　comprehensive　performance　is　middle　level,　and　the　operation　ability　is　good　level,　motion　ability　is　mid-low　level,　and　survival　ability　and　environment　interaction　ability　are　poor　level.　Finally,　sensitivity　analysis　of　index　value　is　finished　to　provide　the　order　of　the　index　improvement　for　decision-makers.　©　2017　IEEE.