I thought it would make more sense to copy the leg design from other bi-peds such as chickens, which are similar to a dogs back legs with the ankle acting more

I thought it would make more sense to copy the leg design from other bi-peds such as chickens, which are similar to a dogs back legs with the ankle acting more like our knee. I'd been led to believe that our legs worked the way the do due to evolving to climb trees, then evolving back to walk on the ground leaving them less than optimal.