The Humanoid Form is a widely seen form throughout inhabited space. Humanoids stand in an unstable, up-right position which opens them up to tripping over small objects and causing them to fall their entire height which can be fatal in softer species like Humans, however this allows them to free their 2 front feet and use them as hands instead, which allows the easier manipulation of objects nearby.
The first recorded use of the term was in 1870 on Earth when referring to indigenous people in areas that Europeans had colonized. The term can also be even more general, referring to to anything with human-like characteristics and/or adaptations.
So far, humanoids are less common than other types of species which walk on more than 2 limbs, but technology is more prevalent thanks to the ability to manipulate objects with ease. It is unknown why most forms of life which arise on E-Class (and in some cases O-Class and D-Class) planets have this form, but many theorize that it is the most efficient way for intelligence to arise.
The Humanoid Form includes, but is not limited to, opposable anterior forelimb-appendages (thumbs), visible spectrum-binocular vision (having two eyes), or biomechanic digitigrade-bipedalism (the ability to walk on heels in an upright position). In short, if an intelligent species resembles Humans, it is humanoid, although the term Humanoid is currently becoming less and less common as a few alien members of the Confederacy have complained that it is humanocentric and xenophobe.
The Humanoid form varies wildly throughout the known universe, but in every instance, there is always something found that can be related to another species. Currently, the Life Form Genetics Foundation is compiling detailed genetic reports on all species classified as having a Humanoid Form and are comparing them in order to prove or disprove the Intelligent Panspermia Theory. They are only a decade into their work but they estimate it may take another century or so to complete the work.