三、What is it comprised of? - Dioscussion of hardware equipment and capabilities
In order for PaPeRo to interact with people and perform autonomous actions, the robot itself must understand information on the conditions of and outside the location where it has been put.For this reason, various pieces of equipment have been included to detect the outside area, such as a CCD camera, microphone, ultrasonic sensors, etc. We now introduce information on the PaPeRo hardward.

[Specifications] Height 385mm Width 248 mm Depth 245 mm Weight 5.0 kg Continous operation time Approximately 2 to 3 hours Battery charging time Approximately 2 to 3 hours Number of recognizable words Approximately 650 (in speaking mode) Number of speaking words Approx. 3000

[Interface] Connectable to televisions with image and sound outputs It has a built-in Internet wireless modem handset. USB terminal

[Hardware]
Remote control signal transmitter	Transmits infrared remote control signals for the major television manufacturers.
The head	Moves up and down and turns left and right with two motors.
Head hit detection switch	It knows when its head has been hit.When someone hits its head it stops its action and thinks it has been scolded.
Head rub detection sensor	It knows when its head has been rubbed.When its head is rubbed it likes it and it likes the person who has rubbed it.
CCD camera	Using CCD camera embedded in both of its eyes, it walks around objects, measures the distance and approaches people, follows people, remembers people and differentiates them.
LED	LEDs on the mouth and cheeks indicate its facial expressions.LEDs on the ears indicate when the robot hears human speech and LED around the eys indicate when it sees people.The eye LEDs blink green when it is searching for people and when it finds them the green shines steadily. When it sees a person's face it changes to orange.
Sound direction detection microphone	There are three, one on the front and one each on the left and right, respectively.It estimates the direction of sounds by means of the difference in time for sound to arrive at the respective microphones and it looks back in the direction of the sound.
Sound recognition microphones	One directional microphone is installed in the head.PaPeRo speaks while facing the direction of a person by means of image recognition and so the microphone points toward the person as well. NEC SmartVoice technology is used for speech recognition.
Speakers	Words and music are reproduced with stereo speakers.
Ultrasonic sensors	There are 3 in front and 2 in back for a total of 5.When PaPeRo moves it performs recognition processing of the CCD camera images and goes around objects as it moves, but so as to avoid bumping into objects in the camera's blind spots or objects that suddenly jump into the way it also measures the distances to objects with its ultrasonic sensors as well.[/td]
Step height sensors	It detects the step height in front so as not to fall down.
Elevation sensors	It detects when things have been elevated.
Wireless modem	PaPeRo accesses the Internet via a wireless connection and movements and actions created with an external computer editor can be transmitted to the robot.
Wheels	It has two wheels in front and one in back, for a total of three.The two front wheels are driven by two motors.The maximum speed of movement is 20 cm per second.

四、What is its character? - Discussion of the character of the PaPeRo

Basically, PaPeRo has a character than enjoys speaking with people cheerfully, but it changes depending on the way it connects with people.Its changes in character are expressed by the way it speaks, its vocal quality, music and the way it moves, respectively. Here we introduct PaPeRo's representative character

1、"Leader PaPeRo"
This is the character developed first.It's easy going and does what it likes. It likes talking with people and is good at imitating things and dancing.It dances in response to its mood when adapting to the march which is the theme music for Leader PaPeRo.A cute voice and manner of speaking are special features.

2、"Knowledgeable PaPeRo"
It informs you of various information on the Internet.It doesn't say what it likes or dislikes, but you can figure out its feelings from its slight gestures. If you just say anything you want, it will sulk or become naughty.Using speech synthesis it talks in a polite manner.

3、"Dancing PaPeRo"
It's a little bit headstrong, but it really likes to dance and it is happy if you praise it. It has a different theme music from Leader PaPeRo and it has a specialty dance that it dances to match the music.With its speech syntheses it talks in a friendly tone of voice.

4、"Lazy PaPeRo"
If you don't interact with the robot it gets lazy. If you answer its questions and set it up properly it becomes serious.

5、"Computer PaPeRo"
It will do what you say but it will not speak to you. If you treat it affectionately, such as praising it or rubbing it, it will move around and talk to you. It will speak like a robot of the old days with a monotonous voice.

以上介绍的是“what is PaPeRo？”

接下来介绍的是“Technical information on the robot”：

一、Image recognition technology


1、Image Recognition TechnologyUsing image recognition technologies, images captured by robot cameras are processed to identify a person (facial image recognition), recognize characters on a piece of paper (character recognition), or recognizes someone waving his/her hand (gesture recognition). As such, image recognition technologies provide an important mechanism that is essential in human-robot communications.
Here, the image recognition technologies that are used in PaPeRo, i.e., face recognition, character recognition, gesture detection, pendulum detection, and obstacle detection technologies are introduced.