If we truly want to integrate robots in everyfdays' life, we shouldn't make them seem like real human beings.
The danger of this approach and the suspicion people will have towards this project is because of the difficulty to recognize the object from the being.
It may be the real problem.
That's why, I don't think we should make humanoids.
If we could find a huge amount of energy, this perfectionable objects could help a lot in human's work, which it's already doing through machines in industry for example.
But, the entire society has to be reinvented.
Indeed, if the robots' force may remplace the human's work in almost all his work (considering a huge progress in artificial intelligence), work would not have the same place in a human lifetime.
Of course, it's purely utopian.
Anyway, with nowadays mentality, it's not at all desirable.
Even if people are always complaining against work, it gives a kind of sense to their lives.
Without this predominance of work in a lifetime, it's totally another mentality that we should acquire.
Despite of the terrible apprehension we could have with this unavoidable progression of the presence of robots and many technical ways which simplify our lives, maybe it's not a progression for the worst as many people seem to think.
However, we should focus on ways to create it and especially on the resources which seem to be insufficient for these projects.
Considering the case where they would be, I don't think it would be terrible for humanity but we just have to learn how to live with it.
If every resource was precisely calculated and the spoil was avoided, a better equality could be present on the world, with no doubt.
Unfortunately, there are to much reasons to prevent this kind of society from working.
And the most important one is the human's infinite desire.