Iguanodon
Because its front limbs were shorter than the hindlimbs, Mantell guessed it could move on two legs, as opposed to Owen, who thought it was quadrupedal. As it happens, it probably used both modes. Slow walking would be done on all fours, and faster running on the hind legs. Either way, the position of the body would be more horizontal than upright, with the tail held above the ground by its ossified (bony) ligaments (they can be clearly seen on the skeleton). It would defend itself against predators on its hind legs, using its strong front arms and dagger-like thumbs as weapons.