Quadrupedalism in the context of "Animal locomotion"

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.

In biology, homology is similarity in anatomical structures or genes between organisms of different taxa due to shared ancestry, regardless of current functional differences. Evolutionary biology explains homologous structures as retained heredity from a common ancestor after having been subjected to adaptive modifications for different purposes as the result of natural selection.

The term was first applied to biology in a non-evolutionary context by the anatomist Richard Owen in 1843. Homology was later explained by Charles Darwin's theory of evolution in 1859, but had been observed before this from Aristotle's biology onwards, and it was explicitly analysed by Pierre Belon in 1555. A common example of homologous structures is the forelimbs of vertebrates, where the wings of bats and birds, the arms of primates, the front flippers of whales, and the forelegs of four-legged vertebrates like horses and crocodilians are all derived from the same ancestral tetrapod structure.

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.

Phalangeriformes /fəˈlændʒərɪfɔːrmiːz/ is a paraphyletic suborder of about 70 species of small to medium-sized arboreal marsupials native to Australia, New Guinea, and Sulawesi. The species are commonly known as possums, gliders, and cuscus. The common name "(o)possum" for various Phalangeriformes species derives from the creatures' resemblance to the opossums of the Americas (the term comes from Powhatan language aposoum "white animal", from Proto-Algonquian *wa·p-aʔɬemwa "white dog"). However, although opossums are also marsupials, Australasian possums are more closely related to other Australasian marsupials such as kangaroos.

Phalangeriformes are quadrupedal diprotodont marsupials with long tails. The smallest species, indeed the smallest diprotodont marsupial, is the Tasmanian pygmy possum, with an adult head-body length of 70 mm (2+3⁄4 in) and a weight of 10 g (3⁄8 oz). The largest are the two species of bear cuscus, which may exceed 7 kg (15 lb 7 oz). Phalangeriformes species are typically nocturnal and at least partially arboreal. They inhabit most vegetated habitats, and several species have adjusted well to urban settings. Diets range from generalist herbivores or omnivores (the common brushtail possum) to specialist browsers of eucalyptus (greater glider), insectivores (mountain pygmy possum) and nectar-feeders (honey possum).

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.

Aphanosauria ("hidden lizards") is an extinct group of reptiles distantly related to dinosaurs (including birds). They are at the base of a group known as Avemetatarsalia, one of two main branches of archosaurs. The other main branch, Pseudosuchia, includes modern crocodilians. Aphanosaurs possessed features from both groups, indicating that they are the oldest and most primitive known clade of avemetatarsalians, at least in terms of their position on the archosaur family tree. Other avemetatarsalians include the flying pterosaurs, small bipedal lagerpetids, herbivorous silesaurids, and the incredibly diverse dinosaurs, which survive to the present day in the form of birds. Aphanosauria is formally defined as the most inclusive clade containing Teleocrater rhadinus and Yarasuchus deccanensis but not Passer domesticus (house sparrow) or Crocodylus niloticus (Nile crocodile). This group was first recognized during the description of Teleocrater.

Although only known by a few genera, Aphanosaurs had a widespread distribution across Pangaea in the Middle Triassic. They were fairly slow quadrupedal long-necked carnivores, a biology more similar to basal archosaurs than to advanced avemetatarsalians such as pterosaurs, lagerpetids, and early dinosaurs. In addition, they seemingly possess 'crocodile-normal' ankles (with a crurotarsal joint), showing that 'advanced mesotarsal' ankles (the form acquired by many dinosaurs, pterosaurs, lagerpetids, and advanced silesaurids) were not basal to the whole clade of Avemetatarsalia. Nevertheless, they possessed elevated growth rates compared to their contemporaries, indicating that they grew quickly, more like birds than other modern reptiles. Despite superficially resembling lizards, the closest modern relatives of aphanosaurs are birds.