The HRP-4C is a humanoid robot created by the National Institute of Advanced Industrial Science and Technology, a Japanese research facility, and publicly demonstrated on March 16, 2009. It is 158 cm (5 feet, 2 inches) tall and weighs 43 kg (95 pounds) including battery. Its shape and joints are based on the 1997–1998 Japanese body dimension database. It is capable of recognizing ambient sounds and, by using the speech synthesizer Vocaloid, can sing. Recent upgrades have allowed HRP-4C to mimic human facial and head movements as well as execute dance steps, resulting in the most human-like performance yet at Tokyo’s Digital Content Expo in 2010