The forces of natural selection that led to the evolution of bipedality would be the environment. Ardipithecus was a forest dweller and may have evolved walking on two legs to be able to carry food. The other benefit of bipedality is it freed up the hands for use of tools. They were not a aggressive creature (found potentially by the smaller canines which are used in other primates for aggressive interactions). They may have had to reach up into the trees for their nutrition as well. Their hands were not made for walking on, but for grasping.
Brain size may well have evolved if the social groups were gettting more and more complex. The ability to store information of past meetings to remember for future encounters, and problem solving.
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