PaPeRo was named after an acronym of "Partner-type Personal Robot." It is a prototype "Personal robot" that communicates with human beings as one of the family members at home. Since 1997, NEC Multimedia Research Laboratories have been conducting research on "Personal Robots" and developed the first prototype "R100" in July 1997 and its descendant "PaPeRo" in January 2001. In the course of in-depth evaluations with PaPeRo, we focused on the human-robot interactions in the real environment encountered at home. Based on the data and insights in the evaluations, the new PaPeRo with more sophisticated human-robot interaction capabilities has been developed.