Kodomoroid and Otonaroid are female-looking robots with surprisingly convincing personalities. They don't walk and have some bugs (not surprising with tech this cutting-edge), but the result is very impressive.
The article also described, but didn't show a photo of Telenoid. Telenoid appears to be more of an experiment - it is designed to be only minimally humanoid, with a face that could be male or female, and small enough (and soft enough) to be huggable. Telenoid is primarily (I think) meant to be remotely operated as a telepresence device, not an actual independent robot.
The article also makes reference to Pepper a three-wheeled robot designed to read human emotion from tone of voice and facial expressions, and respond appropriately. Pepper was developed by Softbank (one of the biggest Japanese telecom companies) and will likely start selling for under ¥200,000 ($2,000). At that price, if the product works as advertised, I think we'll start seeing a lot of people buying them.
Now if they can develop one that will clean the house for me, it will be perfect.