The humanoid robot ARMAR-III has been designed to help in the Kitchen, e.g. bring objects from the fridge and fill the dishwasher. It has a total of 43 DoF. A mobile platform equipped with three laser scanners allows the robot to navigate the kitchen environment. The arms have 7 DoF each with 8 DoF five fingered hands. A force-torque sensor is available in each wrist. ARMAR-III uses the Karlsruhe Humanoid Head with 7 DoF. For vision, four digital cameras are integrated into the head. Each eye has a wide-angle and narrow-angle camera for peripheral and foveal vision, respectively. There are four PCs inside the mobile base, which run Linux as their operating system. The robot software was originally written in MCA but can also be controlled via the newer ArmarX framework (https://armarx.humanoids.kit.edu). High-level functionality, like object localization, navigation, grasping and planning are already implemented and available.