In the past few years, we have seen a whole host of interesting humanoid robots. This video shows a single-wheeled balancing humanoid robot with dual arms with smooth motion and dexterous manipulation capabilities. This 14 DOF dual manipulation system for the CMU ballbot is made up of 7DOF arms that weigh 12.9kg.
The robot can handle up to 10kg of payload. The above video shows how this enhanced Ballbot works.