the condition of being two-footed or of using two feet for standing and walking.
Also bi·pe·dal·i·ty [bahy-pi-dal-i-tee] /ˌbaɪ pɪˈdæl ɪ ti/.
Origin of bipedalism
Dictionary.com Unabridged Based on the Random House Unabridged Dictionary, © Random House, Inc. 2019
Online Etymology Dictionary, © 2010 Douglas Harper