via Smithsonian
The ancestors of modern humans have walked upright since around 4 million years ago, when members of the genus Australopithecus first started spending more time on the ground than in treetop habitats. Evolving to be bipedal changed a number of things about the human skeletal structure. Our pelvis is shorter and wider than that of other living primates. This is because we move by exerting force mostly through muscles in our butts and legs rather than along our backs and shoulders, as a knuckle-walking chimp would. Our lower femurs (the big bone in your thigh) develop a specific shape, called the bicondylar angle, as we learn to walk.
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