Marvin is a small, low cost, 16 degrees of freedom humanoid (sometimes paranoid) robot.
The firmware is Arduino (C++) based and the GUI is Qt (C++) based for high portability.
Meet Marvin at [FabLab L'Aquila] (http://www.fablabaq.it/)
Credits:
Hardware: Luca Anastasio
Firmware and software: Tomassino Ferrauto