半人马，英文 : centaur，亦称山杜尔族，是希腊神话中一种半人半马的怪物。他们的上半身是人的躯干，包括手和头，下半身则是马身，也包括躯干和四腿。

关于半人马的来源在希腊神话中有许多不同的故事，一般它们都与拉庇泰国王伊克西翁和云有关。有一种说法说他们是伊克西翁与涅斐勒的后代，另一种说法是伊克西翁酒醉后开始对天后赫拉动手动脚，在宙斯的帮助下，赫拉将一块云化为自己的形象，半人马是伊克西翁与这块云的后代，或伊克西翁与这块云的儿子的后代等等。

A centaur (/ˈsɛntɔːr/; Greek:Κένταυρος, Kéntauros, Latin:centaurus), or occasionally hippocentaur, is a mythological creature with the upper body of a human and the lower body of a horse.

The centaurs were usually said to have been born of Ixion and Nephele (the cloud made in the image of Hera). Another version, however, makes them children of a certain Centaurus, who mated with the Magnesian mares. This Centaurus was either himself the son of Ixion and Nephele (inserting an additional generation) or of Apollo and Stilbe, daughter of the river god Peneus. In the later version of the story his twin brother was Lapithes, ancestor of the Lapiths, thus making the two warring peoples cousins.