• Fixed-base arms — Franka, KUKA, Sawyer for precise lab/industrial work.
• Wheeled / tracked — warehouses and off-road terrain.
• Quadrupeds — Unitree, Boston Dynamics Spot for inspection and rescue.
• Humanoids — Tesla Optimus, Figure, and peers for human-centric spaces; rely on WBC and dexterous hands.
• Biomimetic / soft — fish-/insect-like and soft grippers for special environments and compliant contact.

Embodied phones / Android agents

Broadly, phones, cars, and appliances are also “bodies”: they close a perception–decision–action loop in real UIs and sensors. The action space is UI/API events rather than joint torques, but the structure is shared with robotics.

Robot taxonomy adapted from arXiv:2407.06886 §II.