I am familiar, I'm a big fan of Dean Kamen's work. So far, we haven't seen a single wheeled stair climbing vacuum cleaner, even though the original iBOT is 23 years old.
That solves the horizontal mobility problem. And then you have cabinets - and wheels don't solve the vertical mobility problem. So then you need a scissor lift on those wheels, or a hydraulic lift.
The robotics nerds always end up back at bipedal because it's vastly simpler once you're already solving arms.
A scissor lift or some other thing seems a lot simpler than trying to allow for a bipedal robot to knee to reach things close to the ground. Or if legs are the best option, why not a quadruped? Much more stability with a lot of the same advantages.
That solves the horizontal mobility problem. And then you have cabinets - and wheels don't solve the vertical mobility problem. So then you need a scissor lift on those wheels, or a hydraulic lift.
The robotics nerds always end up back at bipedal because it's vastly simpler once you're already solving arms.