If robots took over all the jobs that nobody wants to do and people only did the things they loved whether its sitting on their arse or becoming doctors we might just evolve as a civilization to the next level. I think this is also key to becoming a monetary-less society.
Obviously the trick and hard part will be to still get people interested and motivated to become doctors and engineers,etc ..
I personally love what I do as an engineer and could see myself doing even more engineering tasks if resources wasn't a constraint.
Personally I love problem solving and could not handle sitting on my arse all day long, and I don't think I'm one bit unique in this mentality.
Will it happen ? I doubt any time within the next century if ever.
However, I think to evolve as humanity we need to change the system we have today. Currently its more beneficial to hide information than to share it because of monetary gains.