'bipedal' originates from Latin, specifically the word 'bipedalis,' where 'bi-' meant 'two' and 'pedalis' is related to 'ped-' meaning 'foot.'

'bipedal' changed from the Late/Medieval Latin word 'bipedalis' (and related New Latin forms) and was adopted into English as 'bipedal,' built on the stem of Latin 'bipes/biped-' meaning 'two-footed.'

Initially it meant 'two-footed' (having two feet) and over time has retained this core meaning, used in anatomy, zoology, and anthropology to describe two-foot locomotion.