ROS is a popular framework with permissive licences [1]. It is used with many different types of robots; among them also bipedal humanoids [2]. [1] http://www.

ROS is a popular framework with permissive licences [1]. It is used with many different types of robots; among them also bipedal humanoids [2]. [1] http://www.ros.org/is-ros-for-me/ http://www.ros.org/is-ros-for-me/ [2] http://wiki.ros.org/Robots http://wiki.ros.org/Robots