Biped

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

Time Lords were described in The I-Spyder Book of Earth Creatures as a "bipedal, bicardial mammal". (PROSE: The Last Dodo)

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

The Mantasphid Queen, whose people were engaged in battle against humans, referred 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)