Ah, I had always assumed Waldo was an acronym or initialism of some kind; checking wikipedia shows they are named after the Heinlein story you mention!
Is WALL-E named after him? I know that's an acronym for "Waste Allocation Load Lifter Earth-class", but I bet it's no coincidence.
Oooh, interesting.
There's an episode of the TV show Black Mirror called "The Waldo Moment", which features an arrogant animated puppet that's entirely controlled by the motions of the operator's hand and fingers.
I reckon this bit was clearly a reference to the Heinlein short story.
[1] https://en.wikipedia.org/wiki/Waldo_(short_story)