Final answer:
The hominin lineage diverged from the hominoid lineage approximately six million years ago. Several species evolved from the hominin lineage, including Australopithecus, Homo habilis, and Homo erectus. Neanderthals and Denisovans can be considered 'cousins' of modern humans.
Step-by-step explanation:
The hominin lineage diverged from the hominoid lineage approximately six million years ago. The term hominin refers to any human or human ancestor that evolved after this split from the chimpanzee lineage. Several species evolved from the hominin lineage, including Australopithecus, Homo habilis, and Homo erectus, while Neanderthals and Denisovans can be considered 'cousins' of modern humans.