My associate Mr. Moriyama wrote an issue.

“HRP-2 helps human daily life with autonomous function”
http://pc.watch.impress.co.jp/docs/2006/0131/kyokai42.htm
You can get some video from the site.

It’s a pair of distributed autonomous robotic system for daily life supports.

On the press demonstration, they has composed 3D map with laser range finders.
(but it haven’t written in this article.)

*If someone need detailed translation, please contact me.
http://akihiko.shirai.as/modules/contact/