Here is a humanoid robot designed specifically for researchers. The HR-OS5 Humanoid Robot has a 5052 aircraft aluminum construction and modular design. You get 12 MX-106T, 6 MX-64T, and 2 MX-28T DYNAMIXEL servos from ROBOTIS to get started. The on-board CPU has an Intel NUC D54250WYK (with an Intel Core i5-4250U, 4 GB RAM, and 32 GB storage).
You have Xbee, Bluetooth, and WiFi connectivity options. The robot is offered with Ubuntu or Poky. It also has cameras and various sensors. Not cheap though.