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Research paper : Toward the use of humanoid robots as assemblies of content technologies (S. Nakaoka et al.)−95−Synthesiology - English edition Vol.4 No.2 (2011) Note 2) This is the latest specification as of writing of this paper. This stands true for the other descriptions in this paper.Note 3) The name “Choreonoid” is a combination of “choreograph” and “humanoid”, and expresses the choreography function which is the core of this software.Note 4) The DIGITAL CONTENT EXPO (DC-EXPO) is an international event organized by the Ministry of Economy, Trade and Industry and the Digital Content Association of Japan. It has been held in October since 2008, at the National Museum of Emerging Science and Innovation and the Tokyo International Exchange Center.Note 5) More accurately, we used the “NetVocaListener” service developed by the Yamaha Corporation that obtained the license for this technology from AIST.K. Hirai, M. Hirose, Y. Haikawa and T. 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