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They probably descended from the Horseshoe Crab and before that the Trilobites. Neither walk sideways. So where, when and why over the past 600 million years did they come to walk sideways?
Is it because they don't know whether they're coming or going?
Crabs have 360o binocular vision, which is great for spotting predators and prey and picking bits of food with their pincers, but when walking sideways, the binocular effect must be impaired. So why did crabs evolve to walk sideways? Is there some benefit from this strange means of locomotion?