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Apart from iCub, whose open-source software can be found at https://github.com/robotology/icub-main, what other humanoid robots have open-source and freely accessible software (or hardware)?

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There are quite a few ROS (Robot Operating System) based humanoid robots. Not all of them will be open-source down to the firmware level but most will at least be to the control level. I'm not aware of any that have open-source hardware as well.

Some examples include:

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    $\begingroup$ That's nice. Maybe also provide a link to their open-source sofware! $\endgroup$ – nbro Apr 3 at 17:55
  • $\begingroup$ ROS is a disaster waiting to happen for any actual system since it isn't real time. Doesn't matter if a robot vaccum runs into someone but for cars or large machinery that needs real time control? not ROS. $\endgroup$ – FourierFlux May 26 at 6:20

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