It depends on what you mean by the original ancestor. If you mean the last common ancestor we shared with chimpanzees then no, we do not know what they looked liked. However the Smithsonian Museum have a useful gallery here (http://humanorigins.si.edu/evidence/human-fossils/species) that can give you a good idea what some of the earliest human ancestors may have looked like. Kenis and Kenis Reconstructions (http://www.kenniskennis.com/site/sculptures/Head%20reconstructions%20realistic/) also do some excellent work for a number of major museums and have a great gallery of their sculptures showing what some of our ancestors may have looked.
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