IRC huamonoid robot embedded system project including closed loop walking engine, Inverse Kinematics, IMU, and motion planning parts. The robot has 20 DOF and you can findout about all robot's details along with sensors and processors details at:
http://www.ais.uni-bonn.de/robocup.de/2016/TDPs/Humanoid/RoboCup_2016_Humanoid_AdultSize_TDP_IRC.pdf
And the video of robot is in: