Question: Most robots that exist in the world today are factory robots. Not particularly humanoid, except the arm+hand concept. When you design a robot to replace the human task of pushing a vacuum cleaner around the house, you don't design a robot that resembles a human in any way.

Roboticists today are designing all sorts of robots: with wheels, with tracks, with six legs, etc. So my question is: should we expect robots of a near-future setting to be humanoid? Would they be bipedal?

Of course, one thing sophisticated robots (not hoover robots and factory robots) need is adaptability. The human body-form can do a lot of different things. But so can the hexapedal form, for example.

Mother Nature already dealt with this question of what body-plan to use for Her most sophisticated beings, and she settled on humanoid for reasons I don't fully understand, discussed a bit in [this question](https://worldbuilding.stackexchange.com/questions/25209/would-intelligent-life-evolve-any-other-body-plan-than-humanoid).

Would people in the near-future bother manufacturing humanoid/bipedal robots, or could we get any job done with other body-plans?

Answer: 
Versatility: A good reason for a humanoid robot is to use things designed for humans.

If you run a hotel, you could have a robot vacuum cleaner shaped like R2D2, a robot bellhop that's basically a luggage cart with mechnical arms and a motor, and a valet robot that's basically a tow truck with autopilot.

Or you could buy one humanoid robot that can use an ordinary vacuum cleaner, push an ordinary luggage cart, and drive the cars itself. All these devices were designed to be used by humanoids, so a humanoid shape is really handy.
Robot soldiers **might** look somewhat human so the enemy might waste ammunition on them that is ineffective.

Other answers have thoroughly covered other reasons for or against.

One more: if a large subculture is so anti-robot that they resort to sabotage, making their targets harder to distinguish from humans would be a good strategy.