The practical isn't being given due consideration here. We spend the enormous majority of our time in the built environment. Every single aspect of our homes an

The practical isn't being given due consideration here. We spend the enormous majority of our time in the built environment. Every single aspect of our homes and cities (from the size of doorways to the level of countertops) are designed around median human size and form. It's ludicrous to suggest these will change to accommodate the need of personal service robots - which already face a host of barriers to adoption, from privacy to cost to reliability etc. If there ever are to be general purpose domestic robots, they will absolutely be 'humaniform' to use Azimov's terminology. Sure a large hotel or hospital or facility can adapt itself to the shape and needs of more specialised machines, but we're not doing that in our homes. Nor are we likely to return to a jetson's vision of dozens of separate functionally distinct machines in the home. We've been doing precisely the opposite for decades - moving more distinct functions to combined devices as housing gets smaller and more expensive.