Oct. 2021: I put the humanoid robot revolution at roughly somewhere around 2027. With self-driving cars, we already have the sensor and perception processing needed. And the usage of legs has mostly been solved.

Hands are a lot more tricky; roboticists have had the hardware for hands since at least the 1982 Salisbury Hand; but the software for ubiquitous hand-eye manipulation is just now coming on-line in research labs with the next-generation neural nets. And it may not get shaken out for perhaps the next four years. It might take two years after that for humanoids to start showing up everywhere, just like the Apple Newton was an early clunky pass at 2001's cell-phone computers, leading to the 2007 iPhone. But they're definitely coming.

(For comparison, Tesla went public in 2010, and is now selling half a million cars each year, as of the end of 2020.)

Speaking of Tesla, Elon Musk has just (Aug 2021) announced that his company is going to start researching and producing humanoids, the Tesla Bot. Musk usually eventually succeeds at his ambitions, although I anticipate the first four years will be partially-working prototypes. So at least one serious player is getting into the game.

Ford Motor, with Agility Robotics, is also researching humanoid delivery robots:

Tesla intends to make their bot only 5'8" and scrawny, so that it won't be able to cause any trouble. What could go wrong. Nothing like this scrawny person who was 5'8":

To get an idea of what superhuman speed can look like, here robotics researchers demonstrate snatching a spinning cell-phone out of mid-air, or dribbling a ping-pong ball between two fingers. The hand, and the vision-system, are custom-built for speed; nonetheless, this was achieved in 2009.

After humanoid robots come out, the temptation to use them for civil disturbances and crowd control will become irresistable.

This clip and trailer are from the 2014 photorealistic science-fiction movie "Chappie", set two years in the future. South Africa is using autonomous humanoid robots for its SWAT teams, to take down gangsters. The police only use them to attack bad people the State doesn't like. What could go wrong?