Leaping Lemurs are upright bipeds (Pre-Primates of dry forest, Madagascar) Swinging Siamangs are upright bipeds (Asian lesser apes of rainforest) Striding Hominins are upright bipeds (Tropical rainforest belt)all great apes) was replaced in the Homo lineage by a woven ground bowl dome hut (akin to a targa, a Celtic wicker round shield), which protected them against airborne biting insects (mosquitoes) all night, thus the subsequent loss of body fur and
Monkeys changed from upright bipeds to quadrupeds because they moved from dry forests to wet thick forests where upright leaping/splashing was less efficient than low dog-like locomotion.
Great apes continue as upright bipeds on branches (E. Morgan article) and on the ground while in thickets and in knee-deep water, but on open ground they knuckle-walk because it is faster.
Great apes and lesser apes (siamangs) have large long arms and upper body, their body mass ie center of gravity is above the navel, so they can't run upright carelessly as humans can with their lower center of gravity.
Human ancestors went from lemur to siamang to bonobo-like ape, then 5.2ma a chromosome mutation (inversion/translocation/fusion) produced (in my opinion) a consequential physiological/behavioural inversion where the usual woven tree canopy bowl nest (
DDeden
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