Avoiding flighty anthropomorphism, you can consider Cog to be a set of sensors and actuators which tries to approximate the sensory and motor dynamics of a human body. Except for legs and a flexible spine, the major degrees of motor freedom in the trunk, head, and arms are all there.
Sight exists, in the form of video cameras.
Hearing and touch are on the drawing board. Hands are being built as you read this, and a system for vocalization is also in the works. Cog is a single hardware platform which seeks to bring together each of the many subfields of Artificial Intelligence into one unified, coherent, functional whole. In thinking about human level intelligence, there are two sets of reasons one might build a robot with humanoid form. If we are to build a robot with human like intelligence then it must have a human like body in order to be able to develop similar sorts of representations.