"Rauisuchia" is a paraphyletic group of mostly large and carnivorous Triassic archosaurs. Rauisuchians are a category of archosaurs within a larger group called Pseudosuchia, which encompasses all archosaurs more closely related to crocodilians than to birds and other dinosaurs. First named in the 1940s, Rauisuchia was a name exclusive to Triassic archosaurs which were generally large (often ), carnivorous, and quadrupedal with a pillar-erect hip posture, though exceptions exist for all of these traits. Rauisuchians, as a traditional taxonomic group, were considered distinct from other Triassic archosaur groups such as early dinosaurs, phytosaurs (crocodile-like carnivores), aetosaurs (armored herbivores), and crocodylomorphs (lightly-built crocodilian ancestors). However, more recent studies on archosaur evolution have upended this idea based on phylogenetic analyses and cladistics, a modern approach to taxonomy based on clades (nested monophyletic groups of common ancestry). Since the early 2010s, archosaur classification schemes have stabilized on a system where Rauisuchia is rendered an evolutionary grade, or even a wastebin taxon. Crocodylomorphs most likely originated from a rauisuchian ancestor based on a myriad of shared traits, and some "rauisuchians" (such as Postosuchus and Rauisuchus) appear to be more closely related to crocodylomorphs than to other "rauisuchians" (such as Prestosuchus and Saurosuchus). As a result, Rauisuchia in its traditional usage is may be considered paraphyletic: a group which is defined by shared ancestry but also excludes a descendant taxon (in this case, crocodylomorphs). To designate it as an informal group in scientific literature, the name is often enclosed in quotation marks. Several monophyletic groups have been erected to classify "rauisuchians" in a cladistic framework. The closest concept is the clade Paracrocodylomorpha, which includes most "rauisuchian" taxa and their crocodylomorph descendants. Paracrocodylomorpha is divided into two branches: Poposauroidea, which includes a variety of strange "rauisuchians" (some of which were bipedal and/or herbivorous) and Loricata, which includes most typical "rauisuchians" and crocodylomorphs. Characteristics "Rauisuchians" had an erect gait with their legs oriented vertically beneath the body rather than sprawling outward. This type of gait is also seen in dinosaurs, but evolved independently in the two groups. In dinosaurs, the hip socket faces outward and the femur (thigh bone) connects to the side of the hip; while in rauisuchians, the hip socket faces downward to form a shelf of bone under which the femur connects. This has been referred to as the pillar-erect posture. "Rauisuchians" lived throughout most of the Triassic. Along with many other large archosaurs,