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We were forced to adapt to an aquatic environment, became bipedal because of THAT, and had big enough brains to continue to survive as bipeds.   That's why no other primate (or mammal) is bipedal.   There is NO advantage to being bipedal, you're always off balance.    If you live in a semi-aquatic environment, you'll learn to walk through a swamp.   Even chimps, which are not bipedal, will walk upright through a swamp.   Force them to live in that environment and they will become bipedal, just like us.

It has nothing to do with "freeing hands up" or "seeing better on the savana".   If that were true, why isn't any other animal on the planet bipedal?   (kangaroo doesn't count, without it's tail for support, it would fall backwards)