Adverb
bipedally (not comparable)
In the manner of an animal that walks on two feet, two legs.
Chimpanzees and gorillas knuckle walk, and can move bipedally for short distances. Source: Internet
Many reptile species will also temporarily adopt bipedalism while fighting. citation One genus of basilisk lizard can run bipedally across the surface of water for some distance. Source: Internet
Some animals commonly stand on their hind legs, in order to reach food, to keep watch, to threaten a competitor or predator, or to pose in courtship, but do not move bipedally. Source: Internet
Several non-archosaurian lizard species move bipedally when running, usually to escape from threats. Source: Internet