Does this make sense?

Does the writing below make perfect sense? Is it well written text?

Over one century ago, it was that pioneering Victorian sensibility of refractory scientific experimentalism proper to the pedagogy of comparative anatomical science that spurred Huxley and later Darwin to conclude that the homininae clade, otherwise known as African apes, are the closest living relatives of anatomically modern humans. Their conclusions were predicated on one single, though commonly expressed, inherited characteristic widely observed across this clade: bipedalism, or upright walking. However, in his treatise The Descent of Man and much to the dismay of his contemporaries, it is apparent that Darwin viewed the evolution of bipedalism as inherently intractable. This view is one which is still held by contemporary biological anthropologists today; in particular, there appears scant scientific agreement on whether bipedalism evolved from a terrestrial knuckle-walking or an arboreal ape-like ancestor. Therefore, understanding the evolution of knuckle-walking as a proxy for understanding how bipedalism evolved in anatomically modern humans remains the central foci of evolutionary biology today.