http://www.ai.mit.edu/projects/cardea/
Check it out!
DARPA is currently sponsoring a program to examine the use of a modified Segway - the RMP model (Robot Mobility Platform) - for robotic applications. Many of the teams participating in the project are developing sensing capabilities to support fully autonomous operations. But a few of them are going beyond that to develop upper torsos and appendages. The most advanced (so far) is the “Segwanaut” (an upgrade of the Robonaut Project) shown below, that was recently demonstrated at several locations in Washington, DC. You can read more about it here.
http://vesuvius.jsc.nasa.gov/er_er/html/robonaut/status/Sep_Robonaut_Status_03_files/image020.jpg
-dave