Biped

Zoe Heriot identified the Ice Warriors as bipeds. (TV: The Seeds of Doom)

The Fourth Doctor described humans as "puny, defenseless bipeds". (TV:The Ark in Space)

The Mantasphid Queen, whose people were engaged in battle against humans, refered to both them and Ulysees Meregrass as "fleshy bipeds". (TV: The Infinite Quest)

When asked by Heidi "What happened?" in relation to a completely different query, the Twelfth Doctor referred to the Big Bang, dinosaurs, and bipeds. (TV: The Girl Who Died)