Wales have won two and drawn two of those four previous games - no mean feat against opponents ranked second in the world - and were victorious in their last meeting in June 2015 when Gareth Bale's first-half goal decided a Euro 2016 qualifier.

"On paper they are an unbelievable team," said Wales defender Taylor ahead of Friday's last-eight clash in Lille.

"They could put two teams out who are able to compete at these Euros, they have had a blessed generation of players coming through. Teams like that can force you to be defensive.

"They move the ball so well, the type of players they have got, you have to respect them otherwise they can blow you away completely.

"You have to show them respect they have earned from being good players and a good team, but we also know that we can hurt them.

"We have got our ways of hurting teams when we need to do but, first and foremost, we must try not to concede."

Taylor says Belgium played an unwitting role in the Wales' success story which has seen them become the last home nation standing at Euro 2016.

Wales had missed out on yet another finals after a disappointing campaign when they headed to Brussels for their final 2014 World Cup qualifier.

Belgium, however, were celebrating qualification for the World Cup in Brazil the following summer and the 90 minutes was little more than a warm-up for the post-match party.

"We saw their celebrations and we talked in the changing room after," said Taylor. "We said that is exactly what we want, what they have just had out there.

"We were thinking that is a nation that was expected to qualify as well and look at the euphoria around it. It was our aim to get there like Belgium, now our aim is to be at the next tournament and the tournament after that, and for the grass roots to produce more players.

"The goalposts keep moving and it is our job to keep succeeding so that happens."

Belgium will have huge support at the Stade Pierre-Mauroy, with Lille just a few miles from the Belgian border.

But Taylor says the bond between Wales players and supporters gives them hope of causing an upset.

"We have really fed off each other which has been great," said Taylor. "We are happy for them to see what we are doing (on social media) because we feel that we are at one with our fans.

"I'd love to have been a fan at this tournament watching, and I hope that when I retire I get the chance to watch people play for Wales at a major tournament."