It's not so much a question of whether we all originate from the same elements, cause we obviously do, but it's a question of whether that is a relevant criteria for saying we are evolutionarily related. Because even inanimate things all originate from the same elements as animate living things.
About your bipedal theory being true, I think that kind of species may be more abundant, because it is a simpler biological form that requires less long term evolution. A worm like species with no "pedals" would be even simpler, and to me it's no coincidence that many microscopic bugs and bacteria are as such, with no "pedals." And they are probably the most kind of abundant species.
That being said, I think long-term evolution species, things that require a lot of time and a long chain of evolutionary progress, are the most adaptable and that is why they will have more "pedals." The most adaptable species may not be the most abundant species in the universe, but they may end up being the most culturally and technologically advance species, and will probably end up being the most migratory and imperialistic species - just look at how much we have migrated and imperialized in a fraction of the time that the dinosaurs existed.
A big problem is that we haven't been around long enough to know whether a long-term evolutionary species like ourselves will survive long. We have to wait, and I'll be dead in the next 80 years.







