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A humanoid robot can operate in the existing world. It can climb stairs and open a door, for example. A robot on wheels without arms can’t do that.
Wouldn’t a quadruped be easier? You can stick arms onto a robotic “dog”.
Crabs make even more sense. 6 legs makes climbing stairs even easier. 2 big arms to hold thing and manipulate doors, drawers etc.
Nature keeps making crabs, we should just cut to the chase.
You could, but it still has to interact with things at and above human height, like stuff on countertops and high shelves.