The following NAT routers are known to support UPnP NAT traversal:
The Internet Connection Sharing component of Windows XP or Windows ME.
The Linksys BEFSR11/BEFSR41/BEFSU31/BEFSX41/BEFW11S4 Cable/DSL routers with firmware 1.41 or higher, although some problems were not fixed until 1.43 (2002 Sep) or higher.