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Quadrupedalism refers to locomotion on four legs. Many animals, such as horses and cows, are quadrupeds. This posture is the basic plan for most terrestrial vertebrates and mammals. While primates inherited this quadrupedal stance, many have evolved to use their limbs for arboreal locomotion, with some, like gibbons, becoming bipedal on the ground.123

Reptiles typically exhibit a sprawled gait with limbs projecting outward, which is energy-efficient for their lifestyles. Some reptiles, like crocodiles, can adopt a more erect posture, and certain lizards and dinosaurs were bipedal. Human bipedalism is unique, characterized by striding rather than hopping or waddling, and is a development from the primate body plan. This shift to bipedalism freed the hands for other activities but also introduced disadvantages like slower speed compared to quadrupedal predators.456

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