The term "two-legged" is used to describe beings, specifically animals or humans, who walk on two legs. However, there are many synonyms for this word. Some alternatives include bipedal, ambulatory, upstanding, pediform, and digitigrade. Bipedal is often used to describe animals that walk on two legs, while ambulatory is more commonly used to describe humans. Upstanding implies a sense of good moral character or ethics. Pediform and digitigrade refer specifically to the anatomy of the creature, with the former indicating a foot-shaped limb and the latter indicating walking on toes. Overall, these synonyms offer a variety of ways to describe beings that walk on two legs, each with their own nuances and connotations.