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We propose a small biped entertainment robot prototype, Sony Dream Robot (SDR-3X) that realizes Motion Entertainment by entertaining people with its controlled dynamic motion performance. New key technologies developed for SDR-3X include the Intelligent Servo Actuator (ISA), the trine-actuator composed of a motor a built-in controller and a gear Another technology is Whole Body Coordinated Dynamic Motion Control. Both technologies realize dynamic, stable motion performance in dynamic biped walking, gymnastic motions and dancing. Human-rohot interactive performances are also described in this paper.

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In this paper we will 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.