To me it makes sense for robots to have 4 or more legs. Centaur, crab, lobster or the like for balance and that benefit of a torso with arms.
The main benefit of humanoid robots, is that they can use human infrastructure. And you need to build human infrastructure anyway. Try fitting a crab-bot into a human building.
The secondary benefit is that human walking style is efficient in both energy and how many limbs you need to make. It does require more sensors and brains as a compensation.
But for rescue work, you want a crab-bot with huge feet, to spread pressure widely and to remain stable on very rough surfaces. Still, it will need to be clever about choosing its footing.