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Using a Giant, Human-Piloted Robot to Build Railway Infrastructure
I think mimicking the human upper body and arms makes sense, particularly for mirroring movement. The lower body is where things fall apart. We evolved into bipeds so that we can make better use of our hands, but every single quadripedal animal is faster and more stable than your average human. And given a choice between walking or using something with wheels to get around, most humans choose the wheels.