URBI is a very interesting project.
Im trying to research its abilitys here (rus).
But this is a way high end platform. The cost per unit for early adopters for robocup was $10k per bot, but hey it was buy 4, get the fifth free....
Nao is based on a Linux platform and scripted with Urbi, an easy-to-learn programming language, with the option of a graphic interface for beginners or code commands for experts.
Ya I want one too. :D