http://www.robotcub.org/index.php/robotcub/content/download/1064/3747/file/iCub_exercising.wmv (10mb, but worth it)
The best thing about this project? It's open source! All CAD designs for the hardware pieces are available for download completely free. All the software, free. Documentation wiki, wide open.
Normally, at this point I would play armchair engineer and say that using electric motors is a bad idea, and that we'll never get good humanoid robots that actually move like people if we choose such overweight, underpowered actuators. But frankly, I'm so impressed by what they have accomplished that I'm in no mood to criticize anything about this project!