No, there were two main alien types in this book, one had three legs and the other species had multiple legs.Bipedal aliens with vaguely human features? That's one thing the books remedied. Or tried to at least. They introduced some very unique aliens and cultures they didn't have the technology to show on screen.
I meant which way they talked, their stilted dialogue was like Native Americans in the 1950's Westerns...and TOS aliens in Star Trek