This is the service robot project I participated in in 2017. The design input of this project does not even have basic hardware stack, only one anthropomorphic requirement, and the mobile form is wheeled structure;
The difficulty in design is that when the humanoid robot is closer to anthropomorphic, it still has wheels on it, which looks very uncoordinated. In this part, I adopt the streamlined design of human fish tail as the transition, which makes the transition between humanoid and wheeled base more natural;