There is no better way to learn robotics than building and programming your own robots. The Lynxmotion Pete Humanoid Robot is one of many kits you can use to get started. It comes with 22DOF and 5DOF per leg. This biped walker robot comes with gripper hands.
The Lynxmotion Pete robot has black anodized aluminum servo brackets and laser-cut Lexan structural components. It has a 180-degree range of motion per axis. Sets you back just under $1000.