Arunde

The Arunde were an ape-like species that lived amongst the trees of their homeworld.

Biology
The Arunde had four arms, no legs, and a powerful fear of the ground. They were also telepathic. (AUDIO: The Fifth Traveller)

History
The First Doctor, Ian, Barbara and Vicki encountered them during a period of conflict, which was caused by the old Matriar falling to her death and losing her eggs to the surface. This led to a power struggle between the Matriar's daughter, Sharna, and Gark, which the Doctor, Ian and Barbara were able to resolve. (AUDIO:  The Fifth Traveller)