Bipedalism is a defining trait of hominins, as all members of the clade are argued to possess at least some characters indicative of this unusual form of locomotion. Traditionally the evolution of bipedalism has been treated in a somewhat linear way. This has been challenged in the last decade or so, and in this paper I consider this view in light of the considerable new fossil hominin discoveries of the last few years. It is now apparent that there was even more locomotor diversity and experimentation across hominins than previously thought, and with the discovery of taxa such as H. floresiensis and H. naledi, that diversity continues well into the genus Homo. Based on these findings,we need to reevaluate how we define members of the genus Homo, at least when considering postcranial morphology, and accept that the evolution of hominin bipedalism was a complex and messy affair. It is within that context that the modern human form of bipedal locomotion emerged.

中文翻译：

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人参早期的多样性和人属的出现。

两足动物是人类的一个典型特征，因为进化论的所有成员都被认为至少具有一些表明这种不寻常运动形式的特征。传统上，两足动物的进化是以某种线性的方式来对待的。在过去的十年左右的时间里，这一直受到挑战，在本文中，鉴于过去几年中大量新的化石人类素发现，我考虑了这种观点。现在很明显，人参中的运动多样性和实验性甚至比以前认为的还要多，并且随着发现类群（例如弗洛雷希氏菌和纳雷迪氏菌），该多样性一直很好地延续到人属中。根据这些发现，至少在考虑颅后形态时，我们需要重新评估我们如何定义人属的成员，并认为人的两足动物的进化是一件复杂而混乱的事情。在这种情况下，现代人类形式的双足运动出现了。