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The main idea behind humanoid robots is their DIRECT COMPATIBILITY in working in human environments. The current DARPA (although a military body) robotics challenge, was supposedly motivated by the recent Japan nuclear disasters in their nuclear plants. Robots back then were essentially remote controlled tanks that can't even open a door. Yes, perhaps they can manoeuver better than bipedal creatures and offer better stability, but they can't do a dime in a human environment. We programme humanoid robots to do what humans do, for example driving a car (which involves it identifying a car, opening the bloody car door, sitting in there, knowing where the pedals and steering wheel are, knowing how to shift gears and manage traffic and terrain via its vision), opening a frigging door, picking up stuff and operating powered tools. These thus allow such humanoid robots to replace humans in hazardous working conditions: a collapsed nuclear plant, coal mines, etc..