The world is already designed for the humanoid for factor. Instead of designing 1001 specialized robots, why not design one that can already use the stuff we have lying around?
For instance with wheels on the legs (so that the legs are used only for stairs or for stepping over obstacles) and with at least 3 arms. Only 2 arms are frequently insufficient for many tasks, when you do not have a mate to help you.
Do robots really need legs? Wheels seem better.