Here is igus - a new soccer robot platform. It is successor to nimbro-op which itself is a derivative of darwin-op. igus received design award at Robocup 2015. It is a bit taller than poppy (36 inches vs 34) but uses mx106 to actuate the legs rather than the mx64s that poppy uses. It can walk and kick the ball etc maybe because of the more powerful actuators but since they are the same mx series maybe the walking algorithms can be adapted to the mx64s and possibly make poppy walk.
And here is the paper that describes igus.