Was the push towards humanoid robots a PR gimmick? I would think the ideal robot would look very different than us and not have the limitations that our bodies have. Airplanes don't flap their wings.
But if you want a multipurpose robot that works alongside us in the human world performing many diverse tasks that a human would perform, being a humanoid might be quite useful. Jobs are designed for humans in many cases, so looking and moving like a human seems like a good thing.
Its initially so they can fit in with an existing work crew, using tools and devices already there. At this point, that market is huge.