The torso of my humanoid robot has two arms, each with five (six including the hand) axes of rotation based on igus robolink robotic joints. Currently, only the right arm is motorized. The arm's joints are tendon driven by stepper motors with planetary gearheads attached. The left arm can be used for teaching in poses. The robot has a pan/tilt sensor head equipped with a Microsoft Kinect and two Logitech QuickCam cameras. These sensors allow the robot 3D vision and hearing. The head has an integrated audio amplifier and a speaker for speech output. Speech can be accompanied by an animation on a graphic LCD. An adaptive gripping tool based on FESTO FinGripper fingers serves as a hand for the robot. The robot's torso is vertically displacable and reaches a maximum hight of approx. 170 cm. The robot is equipped with mobile base with an omnidirectional drive.