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A '''humanoid ''' is an intelligent , bilaterally symmetrical, bipedal lifeform , in possession of an upright posture, with two arms, two legs, hands, feet, one thorax, a neck, and a head with a brain located in it.   They are generally mammalian , and originate on Class M planets. It is common for them to have at least two sexes. Among the many humanoid species known throughout the Milky Way Galaxy are Andorians[[Andorian]]s, [[Bolian]]s, Bolians[[Bajoran]]s, Bajorans[[Klingon]]s, Klingons[[Human]]s, Humansand [[Vulcan]]s.   Despite the vast distances separating their homeworlds, many humanoid species have been found to share a remarkable commonality in form and genetic coding. These similarities were believed to be evidence of a common ancestry, an ancient humanoid species, who lived in the VulcansMilky Way Galaxy's distant past, some four billion years ago.   [[File:Progenitor. jpg|thumb|center|<center>Potential common ancestor]]