As stunning an achievement as ASIMO is, the robot still has a long way to go. It has no free will. Yes, it can make millions of computations on its own to know how to navigate a flight of stairs, but all the words it spoke and dances it did at the conference were canned interactions and responses. Still, if ASIMO can run, it may, someday, be capable of decision-making, too.
OK ... so Lance Ulanoff wants his robots to have free will ... uh huh ... no thanks. Remember I, Robot, where the robots took over the world (or tried)? If robots had free will, they would replace us. Seriously - that's human territory, and I really would prefer to remain unique in that respect. Make a robot that can understand English, perhaps, and I can talk to, and get a good answer back, but not one with free will please.