What if robots replace most of the workforce ?

I was listening to a podcast about AI yesterday. In that podcast they told about an experimental robot, that was trained to do all sorts of household tasks. They claimed it was going to be a great help, for elderly people, who couldn't do certain tasks anymore. I'm sure it's going to help lot's of people, if they are able to get it on the market, eventually. But it made me think. If a robot is able to do most household tasks, then it's also able, to replace a large part of the workforce. Even a low wage worker, costs quite a lot of money, if he works for you, over a period of a couple of years. So these things are probably going to be a lot cheaper, then hiring the cheapest human worker, one can find. For the sake of argument, let's say that it's probably going to take another 10 to 20 years, before these things will have replaced most low wage workers and probably also some high wage workers. How is society going to deal with this ? Does it mean that the rich will only get richer, while the poor suffer or will it seed a new kind of society, one where a 40 hour workweek doesn't exist anymore and most of us will live on some kind of universal income ? I personally believe in the good of mankind and that probably we will end up, having some kind of revolution, that will make it better for all of us. But like with most revolutions, it's going to get much worse, before it gets better.