Utilibot Project is about creating a personal care robot that will avoid accidentally killing its owner by representing the goal of "owner health" in a utilitarian way. It sounds like it might work for a robot with a very small list of potential actions (like "turn on stove" and "administer glucose") and a very specific list of owner health indicators (like "hunger" and "blood glucose level"), but it's not very relevant to the broader Friendly AI program.

Having read as many papers as I have time to before dinner, my provisional conclusion is that Vladimir Nesov hit the nail on the head