Bipedalism

A humanoid (/ˈhjuːmənɔɪd/; from English human and -oid "resembling") is a non-human entity with human form or characteristics. By the 20th century, the term came to describe fossils which were morphologically similar, but not identical, to those of the human skeleton.

Although this usage was common in the sciences for much of the 20th century, it is now considered rare. More generally, the term can refer to anything with distinctly human characteristics or adaptations, such as possessing opposable anterior forelimb-appendages (i.e. thumbs), visible spectrum-binocular vision (i.e. having two eyes), or biomechanic plantigrade-bipedalism (i.e. the ability to walk on heels and metatarsals in an upright position). Humanoids may also include human-animal hybrids (where each cell has partly human and partly animal genetic contents). Science fiction media frequently present sentient extraterrestrial lifeforms as humanoid as a byproduct of convergent evolution.

Knuckle-walking is a form of quadrupedal walking in which the forelimbs hold the fingers in a partially flexed posture that allows body weight to press down on the ground through the knuckles. Gorillas and chimpanzees use this style of locomotion, as do anteaters and platypuses.

Knuckle-walking helps with actions other than locomotion on the ground. Gorillas use fingers for the manipulation of food, whereas chimpanzees use fingers for the manipulation of food and climbing. In anteaters and pangolins, the fingers have large claws for opening the mounds of social insects. Platypus fingers have webbing that extends past the fingers which aids in swimming, thus knuckle-walking is used to prevent stumbling. Gorillas move around by knuckle-walking, although they sometimes walk bipedally for short distances while carrying food or in defensive situations. Mountain gorillas use knuckle-walking plus other parts of their hand—fist-walking does not use the knuckles, using the backs of their hand, and using their palms.

A gait is a manner of limb movements made during locomotion. Human gaits are the various ways in which humans can move, either naturally or as a result of specialized training. Human gait is defined as bipedal forward propulsion of the center of gravity of the human body, in which there are sinuous movements of different segments of the body with little energy spent. Various gaits are characterized by differences in limb movement patterns, overall velocity, forces, kinetic and potential energy cycles, and changes in contact with the ground.

In terrestrial animals, plantigrade locomotion means walking with the toes and metatarsals flat on the ground. It is one of three forms of locomotion adopted by terrestrial mammals. The other options are digitigrade, walking on the toes and fingers with the heel and wrist permanently raised, and unguligrade, walking on the nail or nails of the toes (the hoof) with the heel/wrist and the digits permanently raised. The leg of a plantigrade mammal includes the bones of the upper leg (femur/humerus) and lower leg (tibia and fibula/radius and ulna). The leg of a digitigrade mammal also includes the metatarsals/metacarpals, the bones that in a human compose the arch of the foot and the palm of the hand. The leg of an unguligrade mammal also includes the phalanges, the finger and toe bones.

Among extinct animals, most early mammals such as pantodonts were plantigrade. A plantigrade foot is the primitive condition for mammals; digitigrade and unguligrade locomotion evolved later. Among archosaurs, the pterosaurs were partially plantigrade and walked on the whole of the hind foot and the fingers of the hand-wing. Out of the plantigrade animals, only a few, such as humans, kangaroos and certain rodents, are obligate bipeds, while most others are functional bipeds.

Euparkeriidae is an extinct family of small carnivorous archosauriforms which lived from the Early Triassic to the Middle Triassic (Anisian). While most other early archosauriforms walked on four limbs, euparkeriids were probably facultative bipeds that had the ability to walk on their hind limbs at times. The most well known member of Euparkeriidae is the species Euparkeria capensis, which was named by paleontologist Robert Broom from the Karoo Basin of South Africa in 1913 and is known from several nearly complete skeletons. The family name was first proposed by German paleontologist Friedrich von Huene in 1920; Huene classified euparkeriids as members of Pseudosuchia, a traditional name for crocodilian-line archosaurs from the Triassic (Pseudosuchia means "false crocodiles"). However, phylogenetic analyses performed in the 21st century place Euparkeriidae as a group of Archosauriformes, a position outside Pseudosuchia and close to the ancestry of both crocodile-line archosaurs and bird-line archosaurs (which include dinosaurs and pterosaurs). However, they are probably not direct ancestors of archosaurs.

Several other species apart from Euparkeria have been assigned to the family, but many are dubious or have been determined to have been placed in the family incorrectly. One study has suggested that Euparkeriidae may not represent a true evolutionary grouping or clade. Instead, the family may represent an evolutionary grade of small archosauriforms (making it paraphyletic) or a group of species that each evolved small body sizes through evolutionary convergence (making it polyphyletic). However, other studies consider the family valid, albeit difficult to diagnose. Euparkeriidae is defined as the most inclusive clade containing Euparkeria capensis but not Crocodylus niloticus (the nile crocodile) or Passer domesticus (the house sparrow).

The evolution of human bipedalism, which began in primates approximately four million years ago, or as early as seven million years ago with Sahelanthropus, or approximately twelve million years ago with Danuvius guggenmosi, has led to morphological alterations to the human skeleton including changes to the arrangement, shape, and size of the bones of the foot, hip, knee, leg, and the vertebral column. These changes allowed for the upright gait to be overall more energy efficient in comparison to quadrupeds. The evolutionary factors that produced these changes have been the subject of several theories that correspond with environmental changes on a global scale.

A humanoid robot is a robot resembling the human body in shape. The design may be for functional purposes, such as interacting with human tools and environments and working alongside humans, for experimental purposes, such as the study of bipedal locomotion, or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some humanoid robots may replicate only part of the body. Androids are humanoid robots built to more closely resemble the human physique. (The term Gynoid is sometimes used for those that resemble women.)

The axilla (pl.: axillae or axillas; also known as the armpit, underarm or oxter) is the area on the human body directly under the shoulder joint. It includes the axillary space, an anatomical space within the shoulder girdle between the arm and the thoracic cage, bounded superiorly by the imaginary plane between the superior borders of the first rib, clavicle and scapula (above which are considered part of the neck), medially by the serratus anterior muscle and thoracolumbar fascia, anteriorly by the pectoral muscles and posteriorly by the subscapularis, teres major and latissimus dorsi muscle.

The soft skin covering the lateral axilla contains many hair and sweat glands. In humans, the formation of body odor happens mostly in the axilla. These odorant substances have been suggested by some to serve as pheromones, which play a role related to mate selection, although this is a controversial topic within the scientific community. The underarms seem more important than the pubic area for emitting body odor, which may be related to human bipedalism.

Australopithecus garhi is a species of australopithecine from the Bouri Formation in the Afar Region of Ethiopia 2.6–2.5 million years ago (mya) during the Early Pleistocene. The first remains were described in 1999 based on several skeletal elements uncovered in the three years preceding. A. garhi was originally considered to have been a direct ancestor to Homo and the human line, but is now thought to have been an offshoot. Like other australopithecines, A. garhi had a brain volume of 450 cc (27 cu in); a jaw which jutted out (prognathism); relatively large molars and premolars; adaptations for both walking on two legs (bipedalism) and grasping while climbing (arboreality); and it is possible that, though unclear if, males were larger than females (exhibited sexual dimorphism). One individual, presumed female based on size, may have been 140 cm (4 ft 7 in) tall.

A. garhi is the first pre-Homo hominin postulated to have manufactured tools—using them in butchering—and may be counted among a growing body of evidence for pre-Homo stone tool industries (the ability to manufacture tools was previously believed to have separated Homo from predecessors). A. garhi possibly produced the Oldowan industry which was previously considered to have been invented by the later H. habilis, though this may have instead been produced by contemporary Homo.

The ligamenta flava (sg.: ligamentum flavum, Latin for yellow ligament) are a series of ligaments that connect the ventral parts of the laminae of adjacent vertebrae. They help to preserve upright posture, preventing hyperflexion, and ensuring that the vertebral column straightens after flexion. Hypertrophy can cause spinal stenosis.

They appear yellowish in colour due to their high elastic fibre content.

In South Jersey and Philadelphia folklore in the United States, the Jersey Devil, also known as the Leeds Devil, is a legendary creature, or cryptid, said to inhabit the forests of the Pine Barrens in South Jersey. The creature is often described as a flying biped with hooves, but there are many variations. The common description is that of a bipedal kangaroo-like or wyvern-like creature with a horse- or goat-like head, leathery bat-like wings, horns, small arms with clawed hands, legs with cloven hooves, and a forked or barbed tail. It is also said that it has a strange elongated body and a thick tail. It has been reported to move quickly and is often described as emitting a high-pitched "blood-curdling scream".

A walking vehicle is a vehicle that moves on legs rather than wheels or tracks. Walking vehicles have been constructed with anywhere from one to more than eight legs. There are many designs for the leg mechanisms of walking machines that provide foot trajectories with different properties.

Walking vehicles are classified according to the number of legs. Common configurations are one leg (pogo stick, monopod, unipod, or "hopper"), two legs (biped or bipod), four legs (quadruped), and six legs (hexapod). There are a few prototypes of walking vehicles. Currently almost all of these are experimental or proof of concept.

Tyrannosauridae (or tyrannosaurids, meaning "tyrant lizards") is a family of coelurosaurian theropod dinosaurs that comprises two subfamilies containing up to fifteen genera, including the eponymous Tyrannosaurus. The exact number of genera is controversial, with some experts recognizing as few as three. All of these animals lived near the end of the Cretaceous Period and their fossils have been found only in North America and Asia.

Although descended from smaller ancestors, tyrannosaurids were almost always the largest predators in their respective ecosystems, putting them at the apex of the food chain. The largest species was Tyrannosaurus rex, the most massive known terrestrial predator, which measured over 13 metres (43 ft) in length and according to most modern estimates up to 8.87 metric tons (9.78 short tons) in weight. Tyrannosaurids were bipedal carnivores with massive skulls filled with large teeth. Despite their large size, their legs were long and proportioned for fast movement. In contrast, their arms were very small, bearing only two functional digits.

Parareptilia ("near-reptiles") is an extinct subclass of basal sauropsids ("reptiles"). Traditionally considered the sister taxon to Eureptilia (the group that likely contains all living reptiles and birds), some phylogenetic analyses now recognize it to be a paraphyletic assemblage of unrelated early reptiles.

"Parareptiles" first arose near the end of the Carboniferous period and achieved their highest diversity during the Permian period. Several ecological innovations were first accomplished by "parareptiles" among reptiles. These include the first reptiles to return to marine ecosystems (mesosaurs), the first bipedal reptiles (bolosaurids such as Eudibamus), the first reptiles with advanced hearing systems (nycteroleterids and others), and the first large herbivorous reptiles, the pareiasaurs, the largest of which reached the sized of oxen. The only "parareptiles" to survive into the Triassic period were the procolophonoids, a group of small lizard-like generalists, omnivores, and herbivores. The largest family of procolophonoids, the procolophonids, rediversified in the Triassic, but subsequently declined and became extinct by the end of the period.

Massospondylus (/ˌmæsoʊˈspɒndɪləs/ MASS-oh-spon-di-lus) is a genus of sauropodomorph dinosaur from the Early Jurassic of southern Africa. It was described by Richard Owen in 1854 from remains discovered in South Africa, and is thus one of the first dinosaurs to have been named. The name Massospondylus means 'longer vertebra', alluding to what Owen identified as tail vertebrae; these vertebrae are now known to be from the neck. Although the original fossils were destroyed in London during a bombing raid in World War II, a plethora of specimens have since been assigned to the genus, making it one of the best-known sauropodomorphs from the Early Jurassic. The genus lived during the Hettangian, Sinemurian, and Pliensbachian ages, which lasted from ca. 201 to 184 million years ago. Most fossils come from the upper Elliot and Clarens formations of South Africa and Lesotho, but the genus is also found in the Forest Sandstone and the Mpandi Formation of Zimbabwe. Material from the US, India, and Argentina was previously assigned to the genus, but the US and Argentinian specimens are now assigned to their own genera (Sarahsaurus and Adeopapposaurus). Because of their great abundance, Massospondylus fossils have been used to date rocks, and a biozone, the Massospondylus Range Zone, is named after the genus.

Two species are considered valid: the type species M. carinatus, as well as M. kaalae, which was named in 2009 and is known from a single skull. Six other species have been named during the past 150 years but are no longer recognised. Originally, Massospondylus and similar dinosaurs have been regarded as theropods, but are now classified as basal ("early diverging") members of Sauropodomorpha. This group also includes sauropods. Within sauropodomorphs, Massospondylus is often classified in the family Massospondylidae. The genus was 4–6 metres (13–20 ft) long, with a long neck and tail, a small head, and a slender body. It is distinguished from related genera by the very elongated vertebrae of the front portion of the neck, amongst other features. Although Massospondylus was long depicted as quadrupedal (four-legged), it is now considered to have been bipedal (two-legged).

Psittacosaurus (/ˌsɪtəkəˈsɔːrəs/ SIT-ə-kə-SOR-əs; "parrot lizard") is a genus of extinct ceratopsian dinosaur from the Early Cretaceous of what is now Asia, existing between 125 and 105 million years ago. It is notable for being the most species-rich non-avian dinosaur genus. Up to 13 species are known, from across China, Mongolia, Russia, and Thailand. The species of Psittacosaurus were obligate bipeds at adulthood, with a high skull and a robust beak. One individual was found preserved with long filaments on the tail, similar to those of Tianyulong. Psittacosaurus probably had complex behaviours, based on the proportions and relative size of the brain. It may have been active for short periods of time during the day and night, and had well-developed senses of smell and vision.

Psittacosaurus was one of the earliest ceratopsians, but closer to Triceratops than Yinlong. Once in its own family, Psittacosauridae, with other genera like Hongshanosaurus, it is now considered to be senior synonym of the latter and an early offshoot of the branch that led to more derived forms. The genera closely related to Psittacosaurus are all from Asia, with the exception of Aquilops, from North America. The first species was either P. lujiatunensis or closely related, and it may have given rise to later forms of Psittacosaurus.

As an adjective, obligate means "by necessity" (antonym facultative) and is used mainly in biology in phrases such as:

• Obligate aerobe, an organism that cannot survive without oxygen
• Obligate anaerobe, an organism that cannot survive in the presence of oxygen
• Obligate air-breather, a term used in fish physiology to describe those that respire entirely from the atmosphere
• Obligate biped, Bipedalism designed to walk on two legs
• Obligate carnivore, an organism dependent for survival on a diet of animal flesh.
• Obligate chimerism, a kind of organism with two distinct sets of DNA, always
• Obligate hibernation, a state of inactivity in which some organisms survive conditions of insufficiently available resources.
• Obligate intracellular parasite, a parasitic microorganism that cannot reproduce without entering a suitable host cell
• Obligate parasite, a parasite that cannot reproduce without exploiting a suitable host
• Obligate photoperiodic plant, a plant that requires sufficiently long or short nights before it initiates flowering, germination or similarly functions
• Obligate symbionts, organisms that can only live together in a symbiosis