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Well I hear one of the goals for ASIMO is for it to one day help old or disabled people in their homes. I could also see maybe a trio of them as a performance group. I think it really depends on how cheap the earliest models are. I imagine they'll cost at least as much as a new luxury car does today, and as such we will probably pay for them in much the same way we pay for cars.
Another interesting thought: maybe there will be a market for different AI services where you pay for a connection to an offsite supercomputer to handle the robot's heavier processes. Each of these services will compete for the highest IQ score. I can see the advertisements now: Apple's patented Siri v9 is the only AI that has passed both the Turing test /and/ the Voight-Kampff test. For only $199 a month, why not add a Siri of your own to the family? [cue the delightful music and shots of friendly robots playing with children]