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: Talos Reem-C Nao OP3 Thormang3


I would suggest using a neural network with back propagation. From what I know, they can be applied to many different circumstances and work well. For your more simpler and repetitive tasks like moving an object, you can just use simpler regression methods.

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