bipedalism

[ bahy-ped-l-iz-uhm ]

/ baɪˈpɛd lˌɪz əm /

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noun

the condition of being two-footed or of using two feet for standing and walking.

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Also bi·pe·dal·i·ty

[bahy-pi-dal-i-tee]. /ˌbaɪ pɪˈdæl ɪ ti/.

Origin of bipedalism

First recorded in 1905–10; bipedal + -ism

You could get the independent evolution of bipedalism multiple times.
What Made Early Humans Smart - Issue 102: Hidden Truths|Kevin Berger|June 30, 2021|Nautilus
Instead, they’re up in the trees, moving with hand-assisted bipedalism, much like an orangutan, gibbon, and siamang do now.
What Made Early Humans Smart - Issue 102: Hidden Truths|Kevin Berger|June 30, 2021|Nautilus
In that case, bipedalism wouldn’t be a new locomotion, it’d be an old locomotion.
What Made Early Humans Smart - Issue 102: Hidden Truths|Kevin Berger|June 30, 2021|Nautilus
Darwin hypothesized that bipedalism and tool use and canine reduction and brain size evolve in concert.
What Made Early Humans Smart - Issue 102: Hidden Truths|Kevin Berger|June 30, 2021|Nautilus

In fact, bipedalism could have evolved independently in different hominins in Africa.
What Made Early Humans Smart - Issue 102: Hidden Truths|Kevin Berger|June 30, 2021|Nautilus