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In this paper we describe a new small humanoid type robot, SDR-4X, for entertainment purpose. Comparing the previous version of SDR-3X, we further expand its ability of human interaction and robust adaptability in home environment. The main technical feature of SDR-4X is four folds: (1) a Real-time Integrated Adaptive Motion Control, (2) the "SDR Motion Creator ", for development of SDR's attractive motion performances, (3) "Real-time real-world Space Perception", and (4) "Multimodal Human Robot Interaction". Overview of these technologies and its performance are presented in this paper.
Fujita et al. (2004) studied this question.