I'm thinking the humanoid approach to robotics is now a gimmick. In most--if not all--cases, a robot in human form is not necessary at all if the approach is to get work done.
If a robot were to reach an AED without frying it with magnets, it would need to be tall enough and have fingers.
I agree with you that there are more efficient shapes out there (like the robot from interstellar) but a humanoid at slightly shorter than the average adult (for fear related reasons) shape is the best general purpose shape because it is so backward compatible in all sorts of not yet imagined emergency scenarios.
Mostly wheels just seem like a better idea. For rough terrain, why not just fly ?
Weight
(You need way more energy to do anything)