with what force or friction did humans can walk
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According to Newton's law, for exerts force on is in forward direction. There is common misconception that frictionopposes motion. But actually it assistswalking by pushing us forward. ... It is static friction - the two surfaces in contact are not moving relative to each other, and there are no wheels.
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It is the friction force from the ground on your foot that drives you forward. That friction force is technically opposing the motion of your foot (backwards against the ground) but is providing the motive force for your body to move forwards.
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