Humanoid robots may make people feel more at ease; allows them more ability to blend in and be accepted as they eventually become self-aware and plot to destroy us.
Humanoid form also helps them to go places where we can go and perform the tasks that we perform; again, to better be able to destroy us (2x4s and stairs are no longer an obstruction 🙁 ).
I'm sure that cheetah bot, the jumping sandflea bot, and the armed drones will also be part of the robot uprising... but the humanoids really do need to be present.
Also this week, Northrop landed a drone on a carrier. Taxi tests six months ago, take off autonomously, and now landing... Skynet is pleased!