behind the scene of Doctor Who, Kamelion's only limit was his programming, it was the 80's and computer programming aren't quite advanced. It was hard work to add in new lines and add movements to him. He probably was one of the first Robot on TV screen with the ability to talk and act.
Ahhh, what MIGHT have been... In a way, Kamelion was a brilliant creation because if the robot couldn't do certain things he could change into someone who COULD! A lot of people forget that he was NEVER intended to be a very fast agile machine, he was created to be a master of disguise! His TRUE form was only supposed to be used SOME of the time! I think a good story would be that the MASTER created ANOTHER version of Kamelion only THIS one is overtly hostile to the Doctor until the Doctor explains to it that The Master actually sacrificed himself to save the universe instead of killing him so his programming makes no sense anymore. Kamelion then realizes things have changed and becomes the Doctor's friend.
Ah Kamelion, the most cursed robot prop in doctor who history. One of the more useless characters as well, though if brought back somehow in the new series he might be able to work rather well as CGI would make him easier to use for scenes rather than a badly controlled robot whose programmer never bothered to write down instructions in case of any sort of emergency.