PR2 is a Willow Garage robot that performs a valuable, and difficult, task for humans - folding the laundry. Professor Pieter Abbeel at UC Berkeley has PR2 started out on towels, which are somewhat easier than other items, but still it's a great start.
(PR2 folding laundry robot)
Science fiction fans may recall that this functionality was built into closets by Philip K. Dick in his 1965 novel The Zap Gun; see the entry for the handicloset.
Robot Janitors Get To Work
'A few mechanical cleaning devices crept here and there...'- Philip K. Dick, 1957.
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Should AIs and AI Robots Demand Rights?
'This robot is a creature... It is a manlike being. Therefore, like any other talking, thinking man, he is entitled to a court trial!'