One of the key features that separates humans and their closest relatives (extinct species of the genus Homo and Praeanthropus and the australopithecines Australopithecus and Paranthropus) on the one hand, from the other hominoids, on the other, is their obligate bipedal locomotion when on the ground. This major difference from the generally quadrupedal locomotion practiced by other hominoids (Pan, Gorilla, Pongo and many extinct lineages) is reflected in many parts of the body, including all the major bones in the legs, arms, trunk and cranium. Locomotion has thus been of major interest to those interested in human origins, evolution, classification and phylogeny. A major hurdle to studies of the origins of bipedalism concerns the paucity of African hominoid fossils between 15 Ma, when all the adequately known hominoids were quadrupedal (most were pronograde, but at least one lineage was orthograde), and 4.2 Ma by which time fully bipedal hominids were established in Africa. Examination of Old World geology and palaeontology reveals a great deal about the evolution of palaeoenvironments and faunas during this period, and it is suggested that hominids evolved bipedal locomotion at the same time that there was a fundamental reorganisation of faunas towards the end of the Miocene. This faunal turnover resulted in the establishment of faunal lineages of "modern" aspect in Africa at the expense of "archaic" lineages which either went extinct or suffered a diminution of diversity. Many of the "modern" lineages were adapted to open country habitats in which grass became a major component of the diet as shown by modifications in the cheek teeth. Hominoids, in contrast, retained their traditional diet but were obliged to forage over greater and greater areas in order to do so, and this tactic led to pressures to modify the locomotor system rather than the diet. If bipedal hominids originated during this period, then the family Hominidae (sensu stricto) dates from about 8-7 Ma.