Tetrapoda in the context of "Limbless vertebrate"

The evolution of tetrapods began about 400 million years ago in the Devonian Period with the earliest tetrapods evolved from lobe-finned fishes. Tetrapods (under the apomorphy-based definition used on this page) are categorized as animals in the biological superclass Tetrapoda, which includes all living and extinct amphibians, reptiles, birds, and mammals. While most species today are terrestrial, little evidence supports the idea that any of the earliest tetrapods could move about on land, as their limbs could not have held their midsections off the ground and the known trackways do not indicate they dragged their bellies around. Presumably, the tracks were made by animals walking along the bottoms of shallow bodies of water. The specific aquatic ancestors of the tetrapods, and the process by which land colonization occurred, remain unclear. They are areas of active research and debate among palaeontologists at present.

Most amphibians today remain semiaquatic, living the first stage of their lives as fish-like tadpoles. Several groups of tetrapods, such as the snakes and cetaceans, have lost some or all of their limbs. In addition, many tetrapods have returned to partially aquatic or fully aquatic lives throughout the history of the group (modern examples of fully aquatic tetrapods include cetaceans and sirenians). The first returns to an aquatic lifestyle may have occurred as early as the Carboniferous Period whereas other returns occurred as recently as the Cenozoic, as in cetaceans, pinnipeds, and several modern amphibians.

Rhipidistia, also known as Dipnotetrapodomorpha, is a clade of lobe-finned fishes which includes the tetrapods and lungfishes. Rhipidistia formerly referred to a subgroup of Sarcopterygii consisting of the Porolepiformes and Osteolepiformes, a definition that is now obsolete. However, as cladistic understanding of the vertebrates has improved over the last few decades, a monophyletic Rhipidistia is now understood to include the whole of Tetrapoda and the lungfishes.

Rhipidistia includes Porolepiformes and Dipnoi. Extensive fossilization of lungfishes has contributed to many evolutionary studies of this group. Evolution of autostylic jaw suspension, in which the palatoquadrate bone fuses to the cranium, and the lymph pumping "lymph heart" (later lost in mammals and flying birds), are unique to this group. Another feature shared by lungfish and tetrapods is the divided atrium, though it evolved convergently.