Humans are the most well-known example of a species that walks on two legs consistently.
Birds walk, hop, or waddle, but all have two legs for walking and running.
Kangaroos are known for their hopping, but they also use their two strong hind legs for walking slowly, using their tail for balance.
Many dinosaurs, such as Tyrannosaurus rex, Velociraptor, and Brachiosaurus, walked on two legs.
Chimpanzees, gorillas, and orangutans can walk on two legs, though they primarily use all fours for moving around.
They often use a two-legged stance when walking upright, although they are more often seen moving quadrupedally.