Pipe person

The Pipe People were the native inhabitants of Terra Alpha. They were forced to live underground when humans colonised the planet. They would use the Candy Pipes to get from place to place undetected. The Seventh Doctor helped them start a rebellion against the human population. Once Helen A's government was brought down, they started to live with the humans. (TV: The Happiness Patrol)

Behind the scenes

 * "Pipe People" was probably a pejorative nickname given them by humans. Their real name was unknown.