I think it would be many decades before I'd trust a robot like that around small children or pets. Robots with that kind of movement capability, as well as the ability it pick up and move things around, will be heavy enough that a small mistake could easily kill a small child or pet.
That's a solved problem for small devices. And we effectively have "robots" like that all over the place. Sliding doors in shops/trains/elevators have been around for ages and they include sensors for resistance. Unless there's 1. extreme cost cutting, or 2. bug in the hardware, devices like that wouldn't kill children these days.
Even for adults, a robot that would likely have to be close to as massive as a human being, in order to do laundry and the like, would spook me out, moving freely through my place.
People also have essentially wild beasts in their home: cats. If cats were the size of small dogs they would kill people all the time, but we love them when they are small enough so they just claw you bloody.
Since we can live with that we can live with anything that doesn't outright murder us.
