Pipe person

The Pipe People were the native inhabitants of Terra Alpha. They were forced to live underground when humans colonised the planet. 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.