They already are, the problem with humanoid robots is that people think that adding legs to the robot will somehow fundamentally make it more intelligent.

People see a robot arm attached to a stationary platform and understand it requires integration work to perform a single task.

But when those same people see a humanoid robot, they think they can just talk to it like a real human and it will do what you told it to do.

They don't think about the fact that the humanoid robot has to be programmed exactly the same way the stationary robot arm has to be programmed and that programming the legs in addition to the arms is a much more challenging problem.