Our robot has 21 degrees of freedom (DOF) (7 by arm, 1 trunk, 2 mobile platform, 3 neck), 15 DOF hand. It weighs 60 kilograms, with a 3 kilogram payload. There is a wearable wireless teleoperated device for each 21 DOF, hand haptic (force, texture, and temperature in test) position control ready, comunication is xbee- for direct control, semi-autonomous control (force and collision avoidance sytem) for internet control latency 300ms, stereo cameras, and a 6-array microphone.