I do understand where you're coming from but as I see it, our homes will eventually become (at some point in our not too distant future) equipped with an AI, similar to SARAH in Eureka perhaps.
A built in House Intelligence that is equipped with Speech, vision, databases, inventory, schedules, Audio / video, theater, HVAC (home heating and cooling / ventilation, etc.), smoke / fire / burglary systems, lighting and sprinkler / pool / hot tub / sauna controls, general home security and maintenance plus an extensive chat / companion / homework / help assistant.
The home will still have it's variety of robots that could perform, lawn mowing / trimming, floor cleaning and vacuuming. Your appliances would also be intelligent (refrigerator could track inventory and create recipes and shopping lists. Perhaps a small robot could gather dirty clothes and perform laundry tasks.
The ideas are many and with the exception of a couple things, the majority of the aforementioned items can already be done!
I guess my point to all this is there would be different types of robots for different tasks in the home of the future. I already have parts of my home controlled by a stand-alone computer. It controls heating / cooling and lighting in several rooms plus motion to turn lights on. We have robot vacuums that do an exceptional job of keeping the dust to a minimum and they go under the beds where conventional upright vacs can't go.
I can check on the status of my house from 100 miles away with my phone and reset my thermostat if desired.
This is only the tip of the iceberg as to what can be done and most likely what will be done in the future.
The adaptation for the bots to have human type hand with five fingers and be 5'10" tall is simply not needed in this regard. Each one does what it was designed (and destined) to do.
Just my take!