We visitied Miraikan - The National Museum of Emerging Science and Innovation. It is like the Powerhouse Museum only "cooler" as Brian says.
We saw Asimo, I had no idea what an Asimo was until Brian told me it was a robot - he was most excited.
There was an Asimo show where he walked around and waved etc and he ran but not like a robot - both of his feet leave the ground at the same time like a normal person. It was amazing, I thought the robot would be noisy but is totally silent.
http://www.miraikan.jst.go.jp/index_e.html
If you come to Japan, this is one the places you must visit - majority of the information are in English as well and there are translators all through the museum who will explain everything to you.
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