The German Aerospace Agency, DLR, has release a mobile robot platform with a humanoid upper body with two arms and a head, called the "Rollin' Justin." For the time being, they are testing and working on improving the accuracy of catching a ball (or 2) and working with everyday items and tasks. Each hand has 4 fingers and a slew of sensors, allowing it to firmly or gently interact with objects. The head consists of two stereo cameras and a PMD sensor. The head acts like a more advanced Microsoft Kinect, allowing for 3D mapping of the environment. For use interaction, and configuring, an iPad based application is available.
The overall catch accuracy of the Rollin' Justin is approximately 80% at the moment. It can move its hand within 2cm of actual balls position, but it can move it there in a frightening fast 5 milliseconds. Although the camera sensors are accurate, it can not see its own fingers clearly. It relies on tactile feedback as it operates the coffee machine in the second part of the first video. Improving the image recognition is the essential next step for DLR. Then their "Household Robot" may very well be just that.
This bot is reminiscent of the character Johnny 5 of the film "Short Circuit." Except here, it operates autonomously. Johnny 5 was more like a puppet, the operator wore an exoskeleton like suit to operate that guy.