I saw as a kid on "Tomorrowland" episodes was similar to the Grumman proposal, except it had no arms or legs. Propulsion was by small jets, and manipulation of external objects was accomplished by waldoes. These were depicted as the suits worn by construction crews assembling structures in zero-g, like space stations. I can't find any artwork, but I seem to recall cone shaped cans with the astronaut inside, and a little glass dome to look out of at the base. Multiple mechanical manipulators were arrange around the circumference of the base.

Planetary surface exploration requires legs and arms, of course, but I suspect the biggest design influence was existing models, diver's suits and high-altitude pilot pressure suits. Engineers are more likely to elaborate, evolve and modify existing concepts than to think out of the box.