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At the Smithsonian:
Why hominids evolved upright walking is one of the biggest questions in human evolution. One school of thought suggests that bipedalism was the most energetically efficient way for our ancestors to travel as grasslands expanded and forests shrank across Africa some five million to seven million years ago. A new study in the Journal of Human Evolution challenges that claim, concluding that the efficiency of human walking and running is not so different from other mammals.
HT: Scott