I remember a story about how the robots put us all in rubber rooms to keep us from dangerous things like politics, work, families and war. All in conformance with the three laws.

And many of the later stories admit to an overmind robot that was used to run society, that was necessary and capable of stretching the laws for the greater good.

That sounds like "With Folded Hands" by Jack Williamson, which interestingly while nothing to do with Asimov is clearly the inspiration for the film "I, Robot" with Will Smith.