Bipedal
With an animal like a sloth, it's a toss-up whether you think of it as having two arms and two legs, or four legs, or simply as four limbs.
A centipede would have 50 pairs of legs, adding to 100 legs. Cent is the French word for 100 (one hundred), and would therefore mean it would have 100 legs Centipedes do not always have 100 legs. They can have anywhere between 20 to 300 legs despite rumours of them having 100 Centipedes have one pair of legs per body segment. This differentiates them from millepedes, which have two pairs of legs per body segment.
Bipedal means an animal with two legs. We are an example.
Humans are bipedal because they use two legs for walking.
The word "bipedal" means having two legs (feet).
A biped has two legs used for walking, such as humans and birds.
Quadripedal or quadriped.
millipead
centipede
centipede
millipedemillipedemillipedemillipedemillipedemillipede
millipede
No, a crab is not bipedal. Bipedal means having two legs. Crabs have eight legs. They are octopedal.
Bipedal
Centipede means "a hundred feet" which is close.
The word having has 2 (two) syllables.