机器人专家长期以来对于人形机器人应该使用轮子还是双腿进行移动存在分歧。支持轮子的人认为轮式机器人更安全、更可靠且更具实用性，已在医院等场所发挥实质作用；而支持双腿的人则认为，双腿能让机器人更好地适应为人类设计的世界，例如克服阶梯障碍，并具有更大的长期发展潜力。

不同的机器人公司正根据其实际应用需求选择移动技术。例如，Diligent Robotics 开发的轮式机器人 Moxi 已经在多个医疗系统中协助运送药物与检体；而 Agility Robotics 则致力于研发具备双腿的机器人 Digit，用以在仓库中搬运货箱，强调双腿在复杂人类工作环境中的独特优势。

迪士尼（Disney）在为主题乐园研发机器人时则采取了不同的策略，其移动方式的选择并非基于寻求「最佳」的移动技术，而是以最能呈现特定角色的个性、情感和真实感为首要考量，这促使他们同时采用轮式与腿式系统，显示出机器人移动技术的设计取决于其最终的使用目的。

Roboticists have long debated whether humanoid robots should move on wheels or legs. Proponents of wheels argue that wheeled robots are safer, more reliable, and more practical, already performing real-world tasks in hospitals, while advocates for legs contend that walking robots can better navigate a world designed for humans, such as climbing stairs, and hold greater long-term potential.

Different robotics companies are choosing their movement technologies based on their specific application needs. For instance, Diligent Robotics' wheeled robot Moxi is already operating in multiple healthcare systems to deliver medications and lab samples, whereas Agility Robotics is developing Digit, a legged robot designed to move bins in warehouses, highlighting the unique advantages of legs in complex human workspaces.

The Walt Disney Company takes a different approach when developing robots for its theme parks, where the choice of locomotion is not based on finding the "best" technology, but on which form of movement best preserves the character's personality, emotion, and believability, leading them to use both wheeled and legged systems and showing that robotic mobility design depends on the ultimate objective.