Although his Lego Robot idea may not be Home Automation specific it sure comes close to the project I did with the ER1 robot from Evolution Robotics a couple years ago. I used C# to extend the capabilities of this wonderful robot.
I think I should break my project into more manageable sub-projects just to get something going. My Home Automation project is not getting off the ground so far. At least I documented a few ideas so I can get back to it.