Really switch among all the applications by shortcuts
Solution 1:
If you use ⌘+tab to go through your open applications, you should see even minimized ones, but if you select them, they don't automatically maximize/unminize. If you however press the option key after you've selected the desired minimized application but before releasing the ⌘ key with ⌘+tab, the app window that was minimized to the dock will return to its previous view.
I know this probably isn't exactly what you're looking for, but perhaps it'll help nonetheless.
Following this tip should also create a window for apps with no active window (works for Mail, iTunes and Keynote).
You can also switch from an app to "itself" (by hitting shift+tab once) then holding option before letting go of command will unminimize or create the window.
Solution 2:
Alternatively, you could try one of the following add ons:
http://manytricks.com/witch/
http://www.macupdate.com/app/mac/8242/liteswitch-x (company website no longer seems to exist)
Both apps claim to solve the minimized app problem.