Firstly, I think many people will want to make the sacrifices necessary for the convenience. You don't have to have cables stretching across the floor. You can put marker tape on furniture. You can have the robot picking stuff up and putting it away rather than leaving it as a trip hazard. You can even replace human-centric objects with ones that are both human-friendly and robot-friendly (say, dinnerware that the dishwasher can easily grasp, move and clean). We already do this by buying microwave and dishwasher friendly stuff, to the point we are shocked when we discover that something isn't. Or we go to the expense of putting pet-doors in our human-doors so pets can use them independently. We are a highly adaptable species.

Secondly, I always liked the idea where your robot is suspended under rails in the ceiling (which you can see in the excellent movie 'Moon'). Advantage is it has more mobility than you because it can hover over furniture.