JAXON is a 33-DOF humanoid robot developed by the Jouhou System Kougaku (JSK) laboratory of the University of Tokyo. It is an extension of the HRP-2 platform, two copies of which took part in the DARPA Robotics Challenge in June 2015. Its VRML model files were released during the Japanese Virtual Robotics Challenge. I uploaded a COLLADA conversion:
$ git clone https://github.com/stephane-caron/openrave_models $ cd openrave_models $ python show_model.py JAXON
Mechanically, JAXON has has 8-DOF arms, 6-DOF legs and a 3-DOF torso:
The model is released under a Creative Commons Attribution-ShareAlike 4.0 International license.