I just found out about this and I had to post about it right away. The University of Bonn has recently introduced an open source platform to control a humanoid robot. The system itself is VERY expensive (20000 euros plus shipping and tax), but the fact that it is open source is really cool. One could do really interesting stuff with it. And the fact that they demo it of a video where the robot plays soccer is just fantastic.

From University of Bonn:

Hardware Specifications
NimbRo-OP robot

Height: 95cm
Weight: 6.6kg

20 networked actuators (Robotis Dynamixel)
6 per leg (MX-106)
3 per arm (MX-64)
2 in the neck (MX-64)

Dual-Core PC (Zotac ZBOX nano XS)
AMD E-450 processor (2×1.65GHz)
USB 3.0, HDMI, Gigabit Ethernet
Memory card slot

WiFi: IEEE 802.11b/g/n

Wide-angle camera (Logitech C905)

Inertial sensors (in Robotis CM-730 controller)
3-axis accelerometer
3-axis gyro

Battery: Lithium polymer 14.8V, 3.6Ah

Materials: Carbon composite, aluminum, ABSplus

Press release.