bipedal

[bahy-ped-l, -pi-dl, bahy-ped-l]
adjective

Origin:
1600–10; bi-1 + pedal (adj.)

bipedally, adverb
Dictionary.com Unabridged
Based on the Random House Dictionary, © Random House, Inc. 2014.
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Etymonline
Word Origin & History

bipedal
c.1600, from biped + -al (1). Classical L. bipedalis meant "two feet long or thick." Bipedalism is recorded from 1907.
Online Etymology Dictionary, © 2010 Douglas Harper
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American Heritage
Science Dictionary
biped   (bī'pěd')  Pronunciation Key 
An animal having two feet, such as a bird or human.

bipedal adjective
The American Heritage® Science Dictionary
Copyright © 2002. Published by Houghton Mifflin. All rights reserved.
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Example sentences
What initially separated them and us from other primates was habitual erect,
  bipedal locomotion.
As that bipedal ape evolved into what would become us, other mammals came and
  went.
So it was with giddy expectation that the team began to excavate a skeleton of
  an unknown bipedal hunter.
Instead of a regular bipedal gait, the robot has two sets of two legs, in inner
  and outer pairs.
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