YOKOHAMA, Japan (AP) -- From a reptilian-looking machine to a sphere on wheels, the robots on display here aren't just toys or scientists' showpieces -- they're heading for consumers' homes as companions, house-sitters and messengers.

This year's Robodex, a major robot exhibition, brings together the top names in Japanese manufacturing -- Sony Corp., Mitsubishi Heavy Industries, Toshiba Corp. and others -- all hoping to sell their products in this gadget-loving nation famous for embracing robots as friends.

Tmsuk's home security robot Banryu, which crawls on four legs, is one of the big stars at the exhibition, which has 95 types of robots and opens to the public this week in Yokohama.

Banryu and other robots were demonstrated for reporters Wednesday. None of the machines does the dishes or cooks dinner just yet, but several of the products appear destined for homes of those who can afford them.

The turtle-like, 90-centimeter- (three-foot-) long Banryu is one of the robots already on sale. But it's not cheap at 1.98 million yen (US$16,600).

It takes digital photos of a home and sends them to mobile phones so people can check for possible intruders. And it belts out an electronic roar if it ``sees'' a stranger.

Since December last year, the company has received orders for more than half of the 50 Banryus available.

"We feel it's selling well, considering the price," said Tmsuk spokesman Yasuaki Hiyama.

Fujitsu's scuttling Maron-1 robot also went on sale last month, for 298,000 yen (US$2,500). It looks like a vacuum cleaner but monitors homes through a camera, helps run appliances by remote control and works as a handsfree phone. It can be controlled through a mobile phone, through which it can also sound an alarm if it detects intruders.

Mitsubishi's 100-centimeter- (three-foot- ) tall Wakamaru looks more human, with its round "head" and two eyes.

It can carry on a primitive conversation, monitor the home and conduct simple Internet searches.

In a demonstration Wednesday, it reminded its owner that the next day would be a good time to go see cherry blossoms at a Tokyo park, and made a clinic appointment by e-mail. The yellow robot ``knows'' when it's low on batteries, and recharges itself.

Mitsubishi says Wakamaru will go on sale within a year for about 1 million yen (US$8,000).

Also on display at Robodex were robots still in development stages:

• Matsushita Electric Works' Hospi, a wheeled robot that carries medical charts around in a hospital.

• Toshiba's ApriAlpha, which can be used to remotely operate home appliances.

• Flatthru from Sanyo, which looks like a wheeled table and can carry drinks on the uneven surfaces of a home without spilling a drop.