Professor Hiroshi Ishiguro of ATR and Kokoro Co. Ltd. developed a realistic humanoid called Geminoid-DK. It has involuntary muscle movements and breathing activity like a human.
Hiroshi Ishiguro of ATR and Kokoro Co. Ltd. developed Geminoid-F which looks like a young human female. It copies the speech and facial expression of its human operator.
UCSD developed a baby humanoid robot called Diego-San. It was used to study how human babies interact with environment and acquire the ability to use nonverbal expressions.