of music. It was also able to accompany a person. In 1986, Honda began its humanoid research and development program, to create humanoid robots capable of interacting successfully with humans. The Intelligent Robotics Lab, directed by Hiroshi Ishiguro at Osaka University, and the Kokoro company demonstrated the Actroid at Expo 2005 in Aichi Prefecture, Japan and released the Telenoid R1 in 2010. In 2006, Kokoro developed a new DER 2 android. The height of the human body part of DER2 is 165 cm. There are 47 mobile points. DER2 can not only change its expression but also move its hands and feet and twist its body. The "air servosystem" which Kokoro developed originally is used for the actuator. As a result of having an actuator controlled precisely with air pressure via a servosystem, the movement is very fluid and there is very little noise. DER2 realized a slimmer body than that of the former version by using a smaller cylinder. Outwardly DER2 has a more beautiful proportion. Compared to the previous model, DER2 has thinner arms and a wider repertoire of expressions. Once programmed, it is able to choreograph its motions and gestures with its voice. The Intelligent Mechatronics Lab, directed by Hiroshi Kobayashi at the Tokyo University of Science, has developed an android head called Saya, which was exhibited at Robodex 2002 in Yokohama, Japan. There are several other initiatives around the world involving humanoid research and development at this time, which will hopefully introduce a broader spectrum of realized technology in the near future. Now Saya is working at the Science University of Tokyo as a guide. The Waseda University (Japan) and NTT Docomo's manufacturers have succeeded in creating a shape-shifting robot WD-2. It is capable of changing its face. At first, the creators decided the positions of the necessary points to express the outline, eyes, nose, and so on of a certain person. The robot expresses its face by moving all points to the decided positions, they say. The first version of the robot was first developed back in 2003. After that, a year later, they made a couple of major improvements to the design. The robot features an elastic mask made from the average head dummy. It uses a driving system with a 3DOF unit. The WD-2 robot can change its facial features by activating specific facial points on a mask, with each point possessing three