The team of engineers and researchers that created iRobot didn’t set out to build a vacuum cleaner. They built robots — a lot of robots, with a lot of jobs — before realizing that people might actually want a robot that could help clean their house. And thus was born Roomba. The Verge’s David Pierce and Jennifer Pattison Tuohy are joined by iRobot co-founder Colin Angle to tell the whole story of all those robots, the pivot to vacuums, and why the Roomba was so easy to love even when it couldn’t really clean.

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