Final answer:
The evolution of hominids began in the late Miocene, between 10 to 5 MYA, with adaptations for terrestrial living occurring by 7 MYA to 4 MYA. By the Pliocene epoch, hominids like Homo erectus were well-adapted to bipedalism, and Homo sapiens emerged around 300,000 years ago.
Step-by-step explanation:
The evolution of hominids is thought to have been initiated in the late Miocene, between 10 to 5 million years ago (MYA). During this time frame, hominids evolved from arboreal lifeforms and began adapting to a terrestrial niche between 7 MYA and 4 MYA, although the fossil record from this period is not abundant. By the Pliocene epoch (5 MYA to 1.8 MYA), hominids had become bipedal with evidence of primitive cultural behavior. Homo erectus, which evolved by about 2.8 MYA, exhibited efficient bipedal movement and other distinctive anatomical changes such as a broader pelvis and longer legs compared to quadrupedal primates. The emergence of Homo sapiens, biologically identical to modern humans, is dated back to roughly 300,000 years ago. This species led to a transformation in lifestyle through the creation of sophisticated tools, utilization of fire, and adaptations to various climates. The exact origins of anatomically modern humans continue to be explored within the context of competing theories like the "out of Africa" model and the “multiregional evolution model".