"four limbs of robotics? "

That in my opinion will be the first thing to address and clear up. To me four limbs looks a bit unusual. OK unless I know what your robot will do fibally I cant comment on this.

If you can tell, as to what kind of motions that you intend to achive finally - there are many options here - geared down rotary; rotary to linear to name a few.

And even in the motors you can choose from a simple DC motor ( will need an encoder feedback ) to a stepper ( normally can get away without an encoder ). Need to know which.

And finally whether a 8052 can do the job? Yes. The way
you have described I presume that you intend controlling the robot from a PC ?

Raghu