Why haven't we seen household humanoid robots?

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There are a few reasons, at least, that come to mind immediately: bipedal locomotion is incredibly difficult to simulate and compute humanoid shapes are not - generally - well-balanced (ie, they can topple easily) successful bipedal robots are very expensive people don’t “want” humanoid robots...
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There are a few reasons, at least, that come to mind immediately: bipedal locomotion is incredibly difficult to simulate and compute humanoid shapes are not - generally - well-balanced (ie, they can topple easily) successful bipedal robots are very expensive people don’t “want” humanoid robots (yet) robots cannot do many things that people would like them to do in an efficient or cost-effective manner read less
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