https://www.youtube.com/watch?v=E1DuJQL8spY
HRP-4C is a humanoid robot of 1580 mm height, 43 kg weight, and with 42 DOF unveiled in 2009.
Nicknamed Miim, the robot was designed by AIST to model, dance, and sing (using Yamaha’s Vocaloid software).
https://www.youtube.com/watch?v=YvbAqw0sk6M
In 2011, HRP-4C’s hardware was updated and became 1600 mm height, 46 kg weight, and 44 DOF (toe joints were added to its feet).
https://www.youtube.com/watch?v=tcDyZ89TRAA
Unveiled in 2010. HRP-4 was developed as an R&D platform based on the same body mechanism of HRP-4C. HRP-4 has a maximum motor power of 80W making it safer to work with humans. HRP-4 is 1514mm tall with a weight of 39 kg. Each arm is 7 DoF, each hand is 7 DoF, and each leg is 6 DoF. There is 2 DoF in the waist bringing the total 34 DoF.
The cost for the hardware and software was approximately $325,000.
Notes: Team Nedo-Hydra used a modified HRP-4 at some point during the DARPA Robotics Challenge, however, I cannot find much info to confirm this