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If you want to understand what a robot economy might look like, you should look at how slave economies functioned, because robots will likely fill the same role in society as slaves once did.
Like slaves, robots are a source of free labor… once you buy them. That’s the tough bit, like humanoid robots will be, slaves were expensive, like $50,000 in modern money. So buying a slave was less expensive than hiring someone, but it wasn’t exactly cheap.
But what a purchase a robot would be, imagine having a perfectly obedient and trustworthy helper that never gets tired, to do all the things you don’t want to do? I think it would be pretty awesome actually.
The easiest way I can think of to have robots serve people rather than replace people would be to limit the number of robots any one person can own to 2. And no, corporations aren’t people. So if a corporation wanted to have robots on staff, they’d have to rent the right from individuals. If an individual wanted to have a small business with only 2 robots, they could have free labor. That way you’d keep the productivity feeding the grassroots of the economy.