Recently announced paper from Clemente et al, decides to tackle the "why do so many lizards run bipedally" issue.
Clemente, C.J., Withers, P.C., Thompson, G., Lloyd, D. 2008. Why Go Bipedal? Locomotion and Morphology in Australian Agamid Lizards.J. Exp. Bio. 211: 2058-2065
Available here:
http://jeb.biologists.org/cgi/content/abstract/211/13/2058
... All is not perfect though as there are some gripes to be had with the
paper. For one, the authours mention other times in which vertebrates have
evolved bipedalism. They mention dinosaurs, birds, kangaroos, and primates.
They argue that freeing up of the forelimbs might allow for the their use in
alternate ways...
Furthermore, what the heck do kangaroos get out of having their forelimbs freed
up? I've seen wallabies use their forearms to help hold food, but kangaroos in
general just seem to use them for standing.