You can still have a humanoid robot that looks very different from an actual human (and most robots from Asimov's novels were of that kind, although one of the main characters wasn't - https://en.wikipedia.org/wiki/R._Daneel_Olivaw).

Ok, so maybe a robot with wheels could solve most tasks, but it would still be severely limited: couldn't climb stairs (which would make it unsuitable as a domestic robot in a house or multi-storey flat), couldn't drive a car, truck or any other vehicle designed for humans etc.

Remember the Segway?

Its predecessor was a stair-climbing wheelchair: https://en.wikipedia.org/wiki/IBOT

One of the codenames for Segway was "Ginger", a reference to Ginger Rogers, because the codename for iBOT was "Fred Upstairs" (a pun on Fred Astaire).