The first Homo species to have walked upright was
Homo erectus
Homo erectus which means erect/upright man, succeeded Homo habilis andis supposed to have been the first hominid to have moved out of Africa into Asia. Although bipedalism evolved much earlier, Homo erectus was the first species to have actually walked upright. It was also the first species to have exhibited a shift towards the human traits and was called "the handyman" based on their ability to use hands. Ramapithecus was our ape-like ancestor and Homo sapiens include the present day humans with traits of bipedalism and increased cranial capacity.