I think GP was basically talking about doing it on a doll. As in, a robot in 1-3 years might be able to change diapers with occasional success, but half the tries will result in a dismembered diaper user: we'd use dolls in this scenario, since dismembering babies is taboo and generally frowned upon within the robotics community.
It will have to be a robot doll. Changing my baby's diaper was a piece of cake until he learned how to escape midway through the process. Babies can be surprisingly hard to restrain!
