Actually, I believe that even the earliest of the Homo genus were bipedal. So, the species through which bipedalism evolved would probably be the Australopithecines.
nit pick:
Australopithecines were fully bipedal. Bipedalism is about 5 to 6 million years old while
Australopithecines are 3 to 4 million years old.
Bipedalism precedes the savanna habitat (with refutes it being a cause for evolution of bipedalism, instead showing that hominids were pre-adapted to take advantage of the new environment ... )
Dietz V, "Do human bipeds use quadrupedal coordination?" Trends in Neurosciences 25 (9): 462-467 Sep 2002
Consider how difficult it is to swing your arms with the wrong synchronization with your legs ... this tells me that this pattern is problematic for behavior not being linked.
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