The usual characterization of humanoids from high gravity planet is that they are stockier with thicker bones and larger muscles and this assumption isn't far fetched. Heavy animals on earth have pillar-like legs and enormous muscle groups to move themselves. However, creatures built like this don't develop tool-using hands since they need all their appendages to support their immense bulk. In order to accommodate the ability to support all of one's weight on two legs instead of requiring four, wouldn't the mass of humanoid need to be lower and therefore smaller?
Higher gravity would be between 1.5G and 3.0G compared to Earth.
Would a humanoid from a high gravity planet be smaller than humans on Earth? By this same logic, would it hold that humanoids from lower gravity planets also potentially be larger than us?