Don't know, if you already know about this OpenSource humanoid robot:
Seems it was on the kicker competition RoboCup.
Interesting for you would be the license of the Software
https://github.com/NimbRo/nimbro-op-ros
and Hardware
https://github.com/NimbRo/nimbro-op
Both are under the BSD 3-clause license.
Looks cool, Adolph Smith was
Looks cool,
Adolph Smith was designing a similar sized bot based on the Darwin too