after Yates, 2007. This is only one of many proposed cladograms for basal sauropodomorphs. Some researchers do not agree that plateosaurs were the direct ancestors of sauropods. Palaeobiology Posture and gait Practically every imaginable posture has been suggested for Plateosaurus in the scientific literature at some point. Von Huene assumed digitigrade bipedality with erect hind limbs for the animals he excavated at Trossingen, with the backbone held at a steep angle (at least during rapid locomotion). In contrast, Jaekel, the main investigator of the Halberstadt material, initially concluded that the animals walked quadrupedally, like lizards, with a sprawling limb position, plantigrade feet, and laterally undulating the body. Only a year later, Jaekel instead favoured a clumsy, kangaroo-like hopping, a change of heart for which he was mocked by German zoologist Gustav Tornier, who interpreted the shape of the articulation surfaces in the hip and shoulder as typically reptilian. Fraas, the first excavator of the Trossingen lagerstätte, also favoured a reptilian posture. Müller-Stoll listed a number of characters required for an erect limb posture that Plateosaurus supposedly lacked, concluding that the lizard-like reconstructions were correct. However, most of these adaptations are actually present in Plateosaurus. From 1980 on, a better understanding of dinosaur biomechanics, and studies by palaeontologists Andreas Christian and Holger Preuschoft on the resistance to bending of the back of Plateosaurus, led to widespread acceptance of an erect, digitigrade limb posture and a roughly horizontal position of the back. Many researchers were of the opinion that Plateosaurus could use both quadrupedal gaits (for slow speeds) and bipedal gaits (for rapid locomotion), and Wellnhofer insisted that the tail curved strongly downward, making a bipedal posture impossible. However, Moser showed that the tail was in fact straight. The bipedal-quadrupedal consensus was changed by a detailed study of the forelimbs of Plateosaurus by Bonnan and Senter (2007), which clearly showed that Plateosaurus was incapable of pronating its hands. The pronated position in some museum mounts had been achieved by exchanging the position of radius and ulna in the elbow. The lack of forelimb pronation meant that Plateosaurus was an obligate (i.e. unable to walk in any other way) biped. Further indicators for a purely bipedal mode of locomotion are the great difference in limb length (the hind limb is roughly twice as long as the forelimb), the very limited motion range of the forelimb, and the fact that the centre of mass