There's no reason why an ideal body needs to have such a high center of gravity though? Clearly we are wasting a lot of energy and capacity to maintain that balance.
I am pretty the ideal body is actually a spider.
replySpiders can't reach as high. Unless you make them really big, but then they take up a lot of space
replyHumans are very space efficient
Something vaguely centauroid is probably would be the most middle of the road design: easy to maintain steady balance with 4 legs without taking too much of the floor space, the central column on top of it can go quite high up and easily have up to 4 hand-like manipulators attached to it with wide range of motion.
replyThe mechanical spider can simply extend its torso or body up. You are only bounded by your imagination!
replyActually bipedal systems are very energy efficient when walking and moving and very slightly inefficient when standing still.
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