But Helen Sewell, who writes for astrology journals and websites, said robots were advancing “too quickly” and could become a danger.
Ms Sewel believes robots will also care for children, who will themselves have robot pets, as the world becomes more reliant on artificial intelligence as we enter the Age of Aquarius.
The astrologer, who made the claims at the 27th Glastonbury Symposium, an annual conference dedicated to the paranormal, conspiracy theories, alternative thought, and new age philosophies, also said we will move towards a genderless world.
In a lecture called The Astrology of Current Events Mrs Sewell revealed what she thought will happen to the UK and beyond once we pass into that age.
She said: “We are now on the brink of a massive shift in the death throws of the Pieces Age into the new Age of Aquarius.
“I see Aquarius becoming much more androgynous, with the sexes being equal, every one will look the same.
“Aquarius means cleanliness and no clutter – out with nic-nacs and objects and in with virtual storage.”
But she warned humans must slow down their implementation of the bots.
Ms Sewell added: “In extreme cases there are sex robots that need addressing as they are coming in too quickly.
“Author David Levy had a much more Utopian view of sex robots – ‘if the natural desire is possible for everyone who is capable of loving, then surely the world will be a better place?’
“Robots taking over our jobs will be a truth, we already have driverless trucks, factories that are automated, automated McDonalds, you can see the kind of world we are coming into.”
It is not entirely agreed when the Age of Aquarius will begin.
Some say it started in 2012, others suggest it will not start until around 2160.
Astrology is the belief that the movements and relative positions of celestial bodies has an influence on the individual lives of humans and the natural world as a whole.
Astrologers claim to be able to predict future events through upcoming changes to the positions of stars and planets.
Astrology splits time into individual ages of around 2,160 years in length.
These astrological ages occur because of a motion of Earth known as the precession of the equinoxes.
There are 12 constellations of the Zodiac and a cycle of precession lasts 25,800 years, meaning each age is about 2,160 years.
We are currently in the Age of Pieces, but astrologers claim we will soon move into the Age of Aquarius.
Thousands of people believe in astrology and follow their own horoscopes, but there is no scientific proof that it works or the positions of celestial bodies has any influence on our lives or the planet.