Here is another open source humanoid robot that can play soccer and perform other activities. The NimbRo-OP2X has a 3D printed body. It has a modular structure and ROS-based software. It weighs only 19kg and stands 135cm tall. The robot has 34 actuators and a mini-ITX PC for computing.
The robot was developed by the Autonomous Intelligent Systems group of University of Bonn, Germany.