Fujitsu made a series of advanced humanoid robot platforms called Humanoid for Open Architecture Platform or HOAP. As part of the series, Fujitsu developed HOAP 1 in 2001.
This bipedal robot stands at 48cm and weighs 6kg with 20 DOF. It runs on operating command PC running RT-Linux software which is connected to the robot via USB interface.
It is also equipped with internal sensors and motors for easy expansion when needed. Unlike any other humanoid robots, one of the advantages of HOAP 1 is that it can be bought in the market but not for a cheap price.