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Our legs are extremely inefficient compared to that of a dogs or most animals.
Since quadrupeds can run using the strength of all 4 limbs, they can easily outrun a human being.
They're also a hell lot more more balanced since they have 4 points of contact with the ground making them very rugged and versatile on rough terrain.
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But they can't pee on two legs.
Humans 1-Dogs 0