I created a character who is centaur-like. His upper body is completely human however his legs and horse-like and he has two legs. This makes him similar to a Satyr, however, Satyr's have Goat like legs and horns. I haven't found a name for a Two-Legged Centaur and no such creature seems to exist in ancient mythology.
Is there a name for such a creature or alternatively, what could I name it? Centaurs do not exist in my world so I cannot use the term ''Centaur'' as an in-world reference point of naming and I don't want to use the term Centaur at all for this creature because it would fall into the ''Our Centaurs are different'' trope and become an annoyance to my audience.