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Humanoid was a taxonomic term that broadly described a species such as the Time Lords or Raxacoricofallapatorians. A humanoid species was thought of as one which was bilaterally symmetrical, bipedal, and possessed of a naturally upright posture. Such species also typically had two arms, two legs, one thorax, a neck and head with a brain located in it. Humanoids of this description were very common in the universe. (PROSE: Galaxy Four) The Tenth Doctor described "your basic humanoid" as simply having a "few limbs and a face." (TV: Silence in the Library)
Valethske found it difficult to compare themselves with other humanoids, particularly humans, whom the majority of Valethske regarded as little more than food animals worthy of no more respect than the cattle raised on their home planet. (PROSE: Superior Beings)
Opinions of non-humanoids
Non-humanoids sometimes opined about humanoids. Daleks thought of taxonomic humanoids as excellent source of concentrated protein (TV: Revelation of the Daleks) and as useful work machines with little other value. (TV: Destiny of the Daleks) The Mantasphid Queen once called them "fleshy bipeds." (TV: The Infinite Quest) And at least one Rill believed that the humanoid form was poorly adapted and led to a shorter lifespan. (PROSE: Galaxy Four)
Theories as to the ubiquity of humanoids
One of the more popular theories about why there were so many humanoid species was that the evolution of Gallifreyans relatively early in the history of the universe caused a morphic field for the humanoid form that resonated across the universe and influenced the development of later species in a similar direction. (PROSE: Lucifer Rising)
Historians who studied the Dalek race developed a theory that Skaro's many humanoid races were descended from proto-humans who had been transported to Skaro by the Halldons. (PROSE: We are the Daleks!, Dalek: The Astounding Untold History of the Greatest Enemies of the Universe) Bernice Summerfield pondered if the Thals might have been descended from DNA that the SSSSSSS had sent through their crude wormholes to plant their "seed of Aryan purity" throughout history. (PROSE: Down)