I think the ideal home robot would be two or three separate arms that ride in tracks along the ceiling, long enough to unfold down to the reach the floor. They'd be out of the way, no need to recharge, they can forego all the balancing and walking hardware and software, they'd be very strong and have the leverage of being attached to the house. Most tasks only need one, but some tasks are better performed with two. They could even move furniture. Of course, houses would need to be redesigned to accommodate them. For instance, doors would need to go all the way to the ceiling.
One step further? Okay, here's a weird one.
Another task they could perform is to manipulate a sex doll mannequin while you wear AR goggles to make the doll look like whatever you want. It doesn't need to be a complicated doll, since all the visual is handled by the goggles. They'd be cheaper, too, you could afford more than one. In... different shapes.
