Bipedal in the context of "Hominoidea"

Primates is an order of mammals, which is further divided into the strepsirrhines, which include lemurs, galagos, and lorisids; and the haplorhines, which include tarsiers and simians (monkeys and apes). Primates arose 74–63 million years ago first from small terrestrial mammals, which adapted for life in tropical forests: many primate characteristics represent adaptations to the challenging environment among tree tops, including large brain sizes, binocular vision, color vision, vocalizations, shoulder girdles allowing a large degree of movement in the upper limbs, and opposable thumbs (in most but not all) that enable better grasping and dexterity. Primates range in size from Madame Berthe's mouse lemur, which weighs 30 g (1 oz), to the eastern gorilla, weighing over 200 kg (440 lb). There are 376–524 species of living primates, depending on which classification is used. New primate species continue to be discovered: over 25 species were described in the 2000s, 36 in the 2010s, and six in the 2020s.

Primates have large brains (relative to body size) compared to other mammals, as well as an increased reliance on visual acuity at the expense of the sense of smell, which is the dominant sensory system in most mammals. These features are more developed in monkeys and apes, and noticeably less so in lorises and lemurs. Some primates, including gorillas, humans and baboons, are primarily ground-dwelling rather than arboreal, but all species have adaptations for climbing trees. Arboreal locomotion techniques used include leaping from tree to tree and swinging between branches of trees (brachiation); terrestrial locomotion techniques include walking on two hindlimbs (bipedalism) and modified walking on four limbs (quadrupedalism) via knuckle-walking.

Apes, collectively Hominoidea (/ˌhɒmɪˈnɔɪdi.ə/; hominoids), are a superfamily of Old World simians native to sub-Saharan Africa and Southeast Asia. They were more widespread in Africa, Asia, and Europe in prehistory, and, including humans, are found globally. Apes are more closely related to Old World monkeys (family Cercopithecidae) than to the New World monkeys (Platyrrhini), with both Old World monkeys and apes placed in the clade Catarrhini. Apes do not have tails due to a mutation of the TBXT gene. In traditional and non-scientific use, the term ape can include tailless primates taxonomically considered Cercopithecidae (such as the Barbary ape and black ape), and is thus not equivalent to the scientific taxon Hominoidea. There are two extant branches of the superfamily Hominoidea: the gibbons, or lesser apes; and the hominids, or great apes.

• The family Hylobatidae, the lesser apes, include four genera and a total of 20 species of gibbon, including the lar gibbon and the siamang, all native to Asia. They are highly arboreal and bipedal on the ground. They have lighter bodies and smaller social groups than great apes.
• The family Hominidae (hominids), the great apes, includes four genera comprising three extant species of orangutans, two extant species of gorillas, two extant species of chimpanzees, and humans.

Except for gorillas and humans, hominoids are agile climbers of trees. Apes eat a variety of plants and animals. Plants, which can include fruits, leaves, stalks, roots, nuts, and seeds, make up the bulk of their diet. Human diets are sometimes substantially different from that of other hominoids, due in part to the development of technology and a wide range of habitation.

A hindlimb or back limb is one of the paired articulated appendages (limbs) attached on the caudal (posterior) end of a terrestrial tetrapod vertebrate's torso. With reference to quadrupeds, the term hindleg or back leg is often used instead. In bipedal animals with an upright posture (e.g. humans and some primates), the term lower limb is often used.

A limb (from Old English lim, meaning "body part") is a jointed, muscled appendage of a tetrapod vertebrate animal used for weight-bearing, terrestrial locomotion and physical interaction with other objects. The distalmost portion of a limb is known as its extremity. The limbs' bony endoskeleton, known as the appendicular skeleton, is homologous among all tetrapods, who use their limbs for walking, running and jumping, swimming, climbing, grasping, touching and striking.

All tetrapods have four limbs that are organized into two bilaterally symmetrical pairs, with one pair at each end of the torso, which phylogenetically correspond to the four paired fins (pectoral and pelvic fins) of their fish (sarcopterygian) ancestors. The cranial pair (i.e. closer to the head) of limbs are known as the forelimbs or front legs, and the caudal pair (i.e. closer to the tail or coccyx) are the hindlimbs or back legs. In animals with a more erect bipedal posture (mainly hominid primates, particularly humans), the forelimbs and hindlimbs are often called upper and lower limbs, respectively. The fore-/upper limbs are connected to the thoracic cage via the pectoral/shoulder girdles, and the hind-/lower limbs are connected to the pelvis via the hip joints. Many animals, especially the arboreal species, have prehensile forelimbs adapted for grasping and climbing, while some (mostly primates) can also use hindlimbs for grasping. Some animals (birds and bats) have expanded forelimbs (and sometimes hindlimbs as well) with specialized feathers or membranes to achieve lift and fly. Aquatic and semiaquatic tetrapods usually have limb features (such as webbings) adapted to better provide propulsion in water, while marine mammals and sea turtles have convergently evolved flattened, paddle-like limbs known as flippers.

A forelimb or front limb is one of the paired articulated appendages (limbs) attached on the cranial (anterior) end of a terrestrial tetrapod vertebrate's torso. With reference to quadrupeds, the term foreleg or front leg is often used instead. In bipedal animals with an upright posture (e.g. humans and some other primates), the term upper limb is often used.

A forelimb is not to be confused with a forearm, which is a distal portion of the human upper limb between the elbow and the wrist.

Australopithecus sediba is an extinct species of australopithecine recovered from Malapa Cave, Cradle of Humankind, South Africa. It is known from a partial juvenile skeleton, the holotype MH1, and a partial adult female skeleton, the paratype MH2. They date to about 1.98 million years ago in the Early Pleistocene, and coexisted with Paranthropus robustus and Homo ergaster / Homo erectus. Malapa Cave may have been a natural death trap, the base of a long vertical shaft which creatures could accidentally fall into. A. sediba was initially described as being a potential human ancestor, and perhaps the progenitor of Homo, but this is contested and it could also represent a late-surviving population or sister species of A. africanus which had earlier inhabited the area.

MH1 has a brain volume of about 350–440 cc, similar to other australopithecines. The face of MH1 is strikingly similar to Homo instead of other australopithecines, with a less pronounced brow ridge, cheek bones, and prognathism (the amount the face juts out), and there is evidence of a slight chin. However, such characteristics could be due to juvenility and lost with maturity. The teeth are quite small for an australopithecine. MH1 is estimated at 130 cm (4 ft 3 in) tall, which would equate to an adult height of 150–156 cm (4 ft 11 in – 5 ft 1 in). MH1 and MH2 were estimated to have been about the same weight at 30–36 kg (66–79 lb). Like other australopithecines, A. sediba is thought to have had a narrow and apelike upper chest, but a broad and humanlike lower chest. Like other australopithecines, the arm anatomy seems to suggest a degree of climbing and arboreal behaviour. The pelvis indicates A. sediba was capable of a humanlike stride, but the foot points to a peculiar gait not demonstrated in any other hominin involving hyperpronation of the ankle, and resultantly rotating the leg inwards while pushing off. This suite of adaptations may represent a compromise between habitual bipedalism and arboreality.