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Savanna Hypothesis – A theory that suggests bipedalism evolved as early hominins moved into open grassland environments.

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Energy Efficiency Hypothesis – The theory that bipedalism evolved to reduce energy expenditure in long-distance travel.

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Stride Length – The distance covered in one step, which increased in early hominins to improve walking efficiency.

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Opposable Toe – A feature of primates used for grasping; early hominins lost this trait as they became fully bipedal.

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Arched Foot – A foot structure in humans that helps absorb shock and provides propulsion in bipedal walking.

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Femoral Angle – The inward angle of the thigh bone (femur) that helps balance the body in bipedal walking.

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Pelvic Reshaping – Adaptations in the pelvis, such as a shorter and wider shape, that support bipedal locomotion.

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Foramen Magnum Position – The placement of the spinal cord opening in the skull; in bipedal species, it is located centrally under the skull.

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Knuckle-Walking – A type of quadrupedal locomotion where primates, such as chimpanzees and gorillas, walk on their knuckles.

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Facultative Bipedalism – Temporary bipedal walking, seen in some primates that primarily move quadrupedally.