Back in November of 2007, I saw a presentation by Professor Siciliano from University of Naples where he briefly mentioned (and had a video) of a very cool humanoid robot named Justin. I've seen a lot more of DLR-III lightweight arms now that DLR and Kuka are working together to push them out into industry; though I must admit that I like Justin's blue arms compared to the characteristic Kuka-orange. Perhaps the most impressive aspect of these arms is that each has a power-to-weight ratio greater than unity. This, combined with some very capable DLR-II Hands make Justin an impressive bi-manual research platform.
Here are some pictures of the Justin humanoid, a DLR-III lightweight arm, and a DLR-II hand.
Videos were made available back at ICRA 2007:
This video presents a humanoid two-arm system developed as a research platform for studying dexterous two-handed manipulation. The diversity of the system is demonstrated by showing the mechanical design, several control concepts, the application of rapid prototyping and hardware-in-the-loop (HIL) development as well as two-handed manipulation experiments.
This video was originally posted on Wired.