If you don't have one of these, you have got to get one!  These things are great!  I was amazed at the amount of fine dust and hair it picks up every day!  (And a little embarrassed at how much dirt was there!)  I have the 570, $400 and worth every penny and more.  I have it set to clean my main living areas every weekday while I'm at work, and by the time I get home it's recharged and ready to clean the lighter areas if needed.  Maintenance is easy, dump the dust tray daily and clean the brushes a couple of times a week, about a 5 minute job.  It does tend to get stuck under the front edge of the rocker/recliner, but what happens is that it pushes the rocker back, then it falls down on the robot.  I set the foot stool in the chair when I leave for work, and no more problems with rocking, plus the robot doesn't have to go around the foot stool now.  I highly recommend this product to everyone, and it would be a really great item for the elderly and disabled.