The International Robot Exhibition occurs in Tokyo every year. Geminoids were introduced there around 2005. They are designed for talking, with the idea that they could replace jobs such as "Ticket, please," or "Correct change for toll roads," or even "How may I direct your call?"
Geminoids don't have any legs, and probably never will, because these robots are so heavy. They consist of hydraulic pumps- hundreds of pumps- that control the facial expressions on these things. Rather than Isaac Asimov, it might be better to associate Geminoids with Jim Henson. :)
The robots that will have more human capabilities, the Rosie the Robots of the future, will probably look and function more like ASIMO.