This chapter provides an overview of design considerations for domestic robots to be used by older adults. We describe characteristics of older adults such as sensory, cognitive and motoric functions, as well relevant context factors of the home environment regarding motion and navigation or installation and maintenance. Methods relevant for the design of domestic robots are described including user-centered design as well as ethical considerations such as safety, security, privacy, and autonomy. Relevant tasks of daily living as well as functionalities and features of robots are presented. We describe examples of robots that have been evaluated in research for use by older adults. The robot designs are discussed with regard to benefits and limitations in the development of domestic robots for supporting daily activities of older adults in their home environment.