We present a high-level overview of our research efforts to build an intelligent robot capable of addressing real-world problems. The UJI Humanoid Robot Torso integrates research accomplishments under the common framework of multimodal active perception and exploration for physical interaction and manipulation. Its main components are three subsystems for visuomotor learning, object grasping and sensor integration for physical interaction. We present the integrated architecture and a summary of employed techniques and results. Our contribution to the integrated design of an intelligent robot is in this combination of different sensing, planning and motor systems in a novel framework.