Wiktionary
bipedally
adv. In the manner of an animal that walks on two feet, two leg.
Usage examples of "bipedally".
It was as if a great German cockroach had grown to maybe one-and-three-quarters of a meter tall and in proportion, then developed thick hind legs that allowed it to walk bipedally, with the underside up.
The hind legs that could support it bipedally, though, were very thick and almost dinosaur-like, though smooth and black.
We are physically conditioned to walk only in one manner, bipedally, yet it takes a monumental effort for us to learn to walk.