The bipedal robot thing is interesting, but there's only two places their cost makes sense: industry and war. After war makes them cheap to mass-produce (because an army of robots needs to be sustainable), then they'll be affordable. But they'll still be highly regulated, mostly as a political reaction to "losing jobs". It will probably take 30+ years for us to get to that point, because wars big enough to invest that much expense and manpower aren't common.