Honey, I'm selling the kids and getting a Homebot!
"The goal is to eventually build a general-purpose robot that can help around the house and perform chores such as setting chairs around a table."
You had me at "help around the house." A robot to do household chores and not talk back to you, or expect expensive high-tech gifts for xmas and birthdays?! Where/when/how_much? Never mind how much, I'll sell off one of the kids and replace them with this new bot of it can take out the trash. I'm going to need a maintenance bay for it, and quite frankly, our youngest is not performing as well we would hope. So, make way for the Homebot, and let this be a lesson to the kids who are left; you CAN be replaced, smartypants.