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Before I answer this question I need to make the point that although we say hominid to mean modern man and all our descendants, technically and scientifically all the great apes are hominids. A hominid is any member of the family Hominidae which include all the extant and extinct members of Humans, Chimpanzees, Gorillas and Orangutans. If we use the genetically based taxonomic classifications (as we do for almost every other animal on Earth) there is not enough difference to divide us all into separate families. It is more correct to use hominain to describe humans and there descendants, which is a sub tribe of hominins which include humans and chimpanzees.

Hominains (which include the genus homo and the genus australopithacus) differ from the great apes in one respect, bipedal walking. It is the one defining characteristic that tell us any species is a hominain.

One of our most famous ancestors the 3.2 million year old Australopithecus afarensis nicknamed Lucy was almost certainly bipedal.

Even older hominain fossils suggest that our ancestors adapted to walking upright almost as soon as we separated our evolutionary paths from chimpanzees. Indirect evidence suggest that some of our earliest ancestors the 5.8 million year old Ardthecus ramidus and Ardthecus kadabba we at times bipedal. One toe bone from A. kadabba dating back to about 5 million years prove definitely that the species was bipedal although there is arguements that the newer fossil should be catagorised as a different species.

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