- You may be looking for Zarbi.
Zarba was a planet once visited by the second Dr. Who. It seemed to be inhabited by a tribe-like species of bipedals and another quadrapedal species.
History
On Dr. Who's first visit to Zarba, he got lost, reading Universe Travel as he walked. A tribe of bipedals watched him travel though a maze to return to the Tardis, which one member of a quadrapedal species was near. (GAME: Lost... Dr. Who [+]unclear authorship, The Dr Who Annual 1968 (World Distributors, 1967).)