The kind of world we have created is one where one must create value in order to have food & shelter. Automation simply funnels more and more of the value created into the pockets of fewer and fewer individuals.
To me, this comes when we make automated machines whose purpose is to provide for human survival, and we make those machines open source. Groups of people purchase the machines, and through ownership they receive the benefits of automation rather than an elite ownership class.
I've written several essays on the topic on my website, and have a discussion board where people can discuss the ideas in more detail.
You may enjoy reading The Machine: http://tlalexander.com/machine/
Or The Corporation: http://tlalexander.com/corporation/
The transition will be tumultuous though, as most transitions are.