Robots similar to these are used in robotic sports competitions. Unlike this one, they have big heavy feet and ankles. That is not how natural creatures work. We continually shift our weight, balancing on small feet and ankles. That makes the extremities of our legs light enough to swing around quickly, using inertia for efficient transfer of energy. A robot of this kind could run circles and back flips around the clunky variety of today. Speed and followthrough are a better way to achieve power than brute strength and bulk. Walking is less energy efficient than running because the forward momentum is not conserved. Today's robot designers are too focused on making their creations look humanoid. They have serious misconceptions about how humanoids move. My robot design has no cosmetic elements, and focuses purely on function. It can easily adopt human poses and actions, and beyond with reversible and double joints. I chose inline wheels as the tactile points of contact, because that gives us the option of both a single axis pivot and a double axis pivot. Plus the robot can control when and how much to roll, depending on alignment angle between all limbs touching ground.