Here is another model for robots for solving household tasks. As Sunday Robotics explain on YouTube, any skill they have mastered in their lab can be transferred to the robot. It can do the laundry autonomously in unseen homes. It can get the job done in bright daylight, dark rooms, and even when disturbed in the middle of folding.
As the above video shows, the robot using this model (Memo) can fold huge shirts as well as tiny baby clothes. Memo has 20 degrees of freedom. It stands 1.7m tall and has a max speed of 3.6 km/h. You can find out more here.