I don't know whether it is relevant to the OP exactly, but this past summer
I linked to a
BBC article about a proposal that bipedalism evolved among our arboreal ancestors to aid in walking along thin branches, and that it is the obligate bipedalism of the more terrestrial apes that is the derived feature.
In
that context it seems plausible.
In many respects, the Bible was the world's first Wikipedia article. -- Doug Brown (quoted by Carlin Romano in
The Chronicle Review)