There is a waiting list for the KUKA lightweight arm. You have to wait for a while even if you place your order now. It’s a great arm if you have cash to spare.
You can see many demos showcasing the arm on youtube. It has been used as arm manipulators and as legs as well.This arm was developed by DLR. It has a 1:1 payload to mass ratio with force control at joint level. This arm has been used as legs as well.