Both these companies are racing to put household robots on the market within 10 years.check it out http://www.squidoo.com/wewillhaverobotsinthefuture/
NEC seems to have a good chance as well... I would expect NEC or Honda, but Sony is a pretty slippery company, so who knows
Panasonic also have robots, all the major electrical companies have them and some car manufacturers , they have a robots football league, honda have concentrated on style but some of the others are trying to perfect AI and cognitive senses BTW Honda will sell you one of their robots now if you have $15,000 to spare (was the last price I heard they would sell one for) Asimo is an excellent bot