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Fish-like ancestors of tetrapods did not need strong limb musculature because they inhabited waters and were practically imponderable. In the primitive tetrapods, principal function of the limbs was initially restricted to passive anchoring in the course of animal movements on the substrate by means of lateral bending of the body (undulation). However, progressive development of carrying function of tetrapod limbs lead to clearing the body off the substrate which reduced friction costs and made the tetrapods less dependent on the substrate properties. Along with this, the limbs became more important as the active locomotory organs. But at the beginning, this diminished locomotory speed as the momentum caused by undulation could no longer provide additional forward sliding. Locomotory function of the tetrapod limb could be carried out due to both retraction and pronation at the shoulder joint. Relatively short humerus of the primitive tetrapods made it indifferent which of these two particular actions lead to elongation of the steps. In most of the recent tetrapods with sprawling limbs (Urodela, Lacertilia Sphenodontia, Crocodilia), step elongation was carried out mainly by retraction at the shoulder joint. Contrary to this, in Tachyglossidae (Mammalia: Monotremata) retraction is absent while pronation at the shoulder joint becomes the most important component of step elongation. This made it possible to recognize two principal types, pronatory and retractory, of locomotion on the basis of the main movement in the phase of support. A mathematical model describing changes in step length during the phase of support in both of these types is elaborated. It takes into account relative sizes of stylopodium and zeugopodium, the angles of pronation and retraction at the shoulder joint, the angle of adduction at the elbow joint, and the angle of body undulation arc. It is shown on the basis of this model, varying of which of the above parameters is advantageous and which is disadvantageous in each of the locomotory types. In the pronatory locomotory type, adduction (lateral mobility) at the elbow joint is employed. It leads to special changes in morphology of the elbow joint due to which humeral condyle becomes spherical and promotes both adduction and rotation of the entire antebrachium. In the retractory locomotory type, amplification of pronation is to be limited in order to provide step elongation, so certain morphological adaptations occur in the elbow joint which prevent adduction at this joint. For step elongation, retraction at the shoulder joint is usually more advantageous than pronation, therefore historical emergence of the pronatory type could be considered as inadaptive. However, transversal horizontal axis of rotation at the shoulder joint appeared to be a prerequisite of the subsequent appearance of the most perfect locomotion in the therian mammals with their parasagittal limbs. Transition to the parasagittal limb construction was associated with adaptation to jumping asymmetric locomotion. It caused elongation of the shoulder bone downward which lead to widening of rotation cone of the humerus and, at the same time, to reduction of the coracoid portion of the glenoid fossa, the latter became horizontal rather than lateral. As a part of this process, the longitudinal axis of the scapula was displacing caudally with destruction of the suture-like articulation of the acromion process with the clavicle. The latter became articulated with the sternum directly or via much reduced interclavicle (or via procoracoid rudiment). This increases amortisatory function of the shoulder girdle during landing at the final stage of jump.