Plen was released by Systec Akazawa in Japan in 2006 as a humanoid desktop hobby robot designed to perform for its owner's entertainment. It is very easy to assemble, program, and control via mobile phone or PC with Bluetooth.
18 degrees of freedom (DOF) in 18 movable joints
20 pre-installed motions
Can “roller skate” and pick up/toss a cube
Height: 23 cm; Weight: 0.5 kg
32-bit ARM processor
Can be controlled via mobile phone or PC with Bluetooth