Industrial robotics are pretty well established. I'm thinking more along the lines of domestic, consumer-oriented products. The Roomba is laughable, but it's a start. In the realm of health care or maintenance, I would think there is a huge potential for "intelligent" machines to do the drudge work. But I don't see anyone working actively on those markets.
We would need a breakthrough in AI for personal servant robots to be reasonably useful. And big changes in the legal system - tort reform. If some robot dropped hot coffee on his owner, the lawyer would bankrupt the manufacturer of the robot.