What animals use bipedal locomotion?

Humans, birds and (occasionally) apes walk bipedally. Humans, birds, many lizards and (at their highest speeds) cockroaches run bipedally. Kangaroos, some rodents and many birds hop bipedally, and jerboas and crows use a skipping gait. This paper deals only with walking and running bipeds.

Answer: Birds, many lizards, cockroaches. Kangaroos, and some rodents.