c. 1600, "having two feet," from biped + -al (1). Classical Latin bipedalis meant "two feet long or thick."
Entries linking to bipedal
biped n.
"animal with two feet," 1640s, from Latin bipedem (nominative bipes) "two-footed," as a plural noun, "men;" from bi- "two" (see bi-) + pedem (nominative pes) "foot" (from PIE root *ped- "foot"). As an adjective from 1781.
-al 1
suffix forming adjectives from nouns or other adjectives, "of, like, related to, pertaining to," Middle English -al, -el, from French or directly from Latin -alis (see -al (2)).
bipedalism n.
"state or condition of having two feet," 1897; see bipedal + -ism. Bipedality is from 1847.