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Bipedalism evolving from inverse brachiation

Goal: Bipedalism evolving from inverse brachiation

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Andrew Planet
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Seeing a young boy recently copying in climbing after his older sister up some railing along a length of stairs and reminiscing over the constant urge to do the same myself as a child, I wonder if such behaviour is innate?
Did early hominins never leave the trees completely even when they evolved to be fully bipedal and when they did, was that only ontogenetically possible due to specific plasticity prompted by environmental ranging rather than any new adaptations?
I ask the latter question because if an experimental group of children were taught that to climb trees is normal and they did that constantly from a very young age, their propensity to climb seems indicative that they would become easily very adept at such behaviour for a lifetime.
 
Andrew Planet
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Bipedalism evolving from inverse brachiation