That was very much the role of the Willow Garage PR2, but unfortunately, it’s no longer in production. However, as covered by The Robot Report, the design files have now been released for others ...

[youtube=http://www.youtube.com/watch?v=0S2dc_B-6Kg] We would like you to meet PR2. Made by Willow Garage, PR2 is a platform for research into robotic programming ...