Under the DARPA Robotics Challenge, two-legged humanoids are under development to perform disaster relief.
NASA also has Robonaut--a surgery-performing robot to patch up space travelers.
The Navy has also teamed with NASA to create a shipboard firefighting robot that can climb stairs, open, hatches, and rescue victims. First it must recognize what a hose is.
But--they admit--"there is an awful lot of stuff to do and it won't be easy or cheap."
This is in its infancy. Still, I remember Rosie from The Jetsons. She was cool. I think it was the apron.