Being young and healthy, I'd be ashamed to ask a robot to serve me drinks or clean my table. However, I can imagine how helpful it might be for my old and ill grandfather. The problem is that nowadays robots are usually specialised to do one task.
Scientists have come up with a robot educational system called RoboEarth. Using it, robots would be able to share information and knowledge. They would learn from each other and perform more tasks than the one they were designed for. I think we'll need some safeguards, otherwise robots could become cleverer than humans.