Here's a
2011 video of Asimo. It does look pretty good, and moves smoothly, but it has broad feet that serve as platforms. It has a shuffling gate because it slides one foot forward while standing on the other, so to me it never really broke free of the walking toy concept. There are a bunch of 2012 Asimo videos which show off its enhanced ability to maneuver, but I think it still uses the same static principles.