Scientists have discovered that two small genetic changes contributed to the development of bipedalism in early humans.
These genetic shifts affected the human pelvis, specifically the ilium, which is the bone that hands rest on when placed on the hips.
The rotation reoriented the muscles that attach to the pelvis, turning a system for climbing and running on all four legs into one for standing and walking on two legs.
Author's summary: Genetic shifts enabled early humans to walk upright.