Note, however, that most robots today actually operate in spaces designed for machines - ie, factories. Getting robots to operate in the "unstructured spaces" the article mentions is extremely difficult and hasn't been cost effective.
A large amount of gains in productivity have been achieved by substituting machines for humans, with "robots" just being the most programmable of machines. But very few of those gains involve direct substitution of machine movement for human movement - rather it's involved imposing structure on the whole productive environment so the rigid motion of a machine has a predictable result.