Hominidae: The family of great apes that includes humans, chimpanzees, gorillas, and orangutans, all of which are bipedal to varying degrees.
Gait: The pattern of movement of the limbs during locomotion, which in bipedal species involves a coordinated swing and stance phase of the legs.
Pelvic Girdle: The set of bones that connect the lower limbs to the axial skeleton, which has undergone adaptations in bipedal species to support the body's weight and facilitate efficient walking.