That's how I feel too. If there were a social dividend (which I think is a better term for a minimum income), then people would find a lot more useful things to do with their time than either the market or a government program could find.

I just completely don't buy the "people wouldn't work" thing. Yes, you'd probably have to pay some menial work more to motivate people to do it (or, even better, spur technological development to automate that), but that's a feature, not a bug.