Abstract:
A toy is configured to closely resemble a live animal and to respond to stimuli in a realistic manner that is consistent with the way in which a real animal would respond. For example, when the toy is designed to resemble a dog or a cat, the toy may be configured to move in a manner consistent with the movements of a dog or a cat. This realistic movement, in conjunction with a realistic fur coat coupled to and covering inner mechanical components, may be used to provide a strikingly realistic toy.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
   This application is a divisional of U.S. application Ser. No. 10/667,977, filed Sep. 23, 2003, now U.S. Pat. No. 7,066,782 which is a continuation-in-part of and claims priority to U.S. application Ser. No. 10/073,122, filed Feb. 12, 2002 (now U.S. Pat. No. 6,773,327 issued Aug. 10, 2004), and U.S. application Ser. No. 10/305,265, filed Nov. 27, 2002, all which are incorporated herein by reference. 

   TECHNICAL FIELD 
   This description relates to an electromechanical toy. 
   BACKGROUND 
   Toys that have moving parts are well known. For example, dolls and plush toys such as stuffed animals are made with moveable appendages. 
   SUMMARY 
   A toy may be configured to closely resemble a live animal and to respond to stimuli in a realistic manner that is consistent with the way in which a real animal would respond. For example, when the toy is designed to resemble a dog or a cat, the toy may be configured to move in a manner consistent with the movements of a dog or a cat. This realistic movement, in conjunction with a realistic fur coat coupled to and covering inner mechanical components, may be used to provide a strikingly realistic toy. 
   For example, the toy animal may turn in the direction of a sound or touch. The body of the toy animal may pivot in conjunction with animation of the head of the toy animal, which is attached to the body of the toy animal. The toy animal may wag it&#39;s tail and it&#39;s back region as it moves forward or backward. The toy animal may include side panels that replicate walking motion of the arms and paws of the toy animal as the toy animal moves forward or backward. 
   In another general aspect, a toy includes a body, a wheel region that rotates about a wheel axis and is coupled to the body, a back region coupled to the body, and an actuation system within the body. The actuation system is coupled to the back region to oscillate the back region about a back axis perpendicular to the wheel axis as the wheel region rotates. 
   In an implementation in which the toy is configured to resemble an animal, oscillation of the back region resembles a rear hip motion of the animal as the animal walks. 
   Implementations may include one or more of the following features. For example, the toy may include a drive wheel region that rotates about a drive wheel axis that is parallel to the wheel axis and causes the body to move in a direction perpendicular to the drive wheel axis. The toy may include a motor, and a second actuating system coupled to the motor and to the drive wheel region to move the body in a direction that is perpendicular to the drive wheel axis. Motion of the body may cause the wheel region to rotate about the wheel axis. 
   The back region may include a crank attached to a lower surface of the back region and coupled to the actuation system to oscillate the back region as the wheel region rotates. The actuation system may include a crank device attached to the crank, a coupling device attached to the crank device, and a wheel device attached to the coupling device and to the wheel region. The wheel device may be fixed to an axle of the wheel region. 
   The crank device may include a crank gear, the coupling device may include a coupling gear, and the wheel device may include a wheel gear. Alternatively, the crank device may include a crank pulley, the wheel device may include a wheel pulley, and the coupling device may include a coupling belt that wraps around the crank pulley and the wheel pulley. 
   The toy may further include a side panel external to and attached to the body, and an actuating device coupled to the wheel region and to the side panel to oscillate the side panel about a side panel axis that is parallel to the wheel axis as the wheel region rotates. The actuating device may include a protrusion on the side panel that engages a cam on the wheel region. 
   In an implementation in which the toy is configured to resemble an animal, the side panel is configured to resemble the arms or paws of the animal and oscillation of the side panel resembles a back and forth motion of the arms or paws of the animal as the animal walks. 
   A tail may be connected to the back region to oscillate as the back region oscillates. The back region may include a back panel and cylindrical projections that extend from side surfaces of the back panel. The cylindrical projections are shaped to fit within cavities of the body. The back axis may be defined by the cylindrical projections. 
   In an implementation in which the toy is configured to resemble an animal, movement of the tail resembles a tail wagging motion of the animal as the animal walks. 
   The toy may also include a motor that causes the toy to move in a forward direction and a backward direction, with both directions being perpendicular to the wheel axis. The toy may include a pendulum rotatably attached to an inside surface of the body and a pivoting member coupled to the pendulum and to a cavity of the body. The pendulum is free to oscillate about an axis that is perpendicular to the direction in which the toy moves. The pivoting member is free to oscillate about a pivot within the cavity. The pendulum may oscillate in response to successive movements of the toy in the forward and backward directions. The pivoting member may oscillate about the pivot in response to oscillation of the pendulum. At least a portion of the pivoting member may be external to the body. The toy may include an output device within the body. The controller causes the output device to output a signal when the pivoting member oscillates. 
   In an implementation in which the toy is configured to resemble an animal, the pivoting member is configured to resemble the tongue of the animal and oscillation of the pivoting member resembles a panting motion of the animal. In this implementation, the output device may output a panting sound as the pivoting member oscillates. 
   In another general aspect, a toy includes a body, a controller within the body, a head region coupled to the body, an actuation system coupled to the head region, and a motor within the body. The head region includes an elongated neck device and a head attached to the elongated neck device. The motor is coupled to the controller and to the actuation system to activate the actuation system in response to a signal from the controller. When activated, the actuation system rotates the elongated neck device about a neck axis, rotates the head about a head axis, and rotates the head about a tilt axis that is different from the head axis in response to a signal from the controller. 
   Implementations may include one or more of the following features. For example, the actuation system may include first and second elongated devices that connect at one end to a pulley coupled to the motor and at another end to a lever within the head region. The first and second elongated devices may extend from the pulley along sides of the elongated neck device, and to the lever. The elongated neck device may include a first end that couples to a post attached to the body, and a second end that couples to the lever. The first end of the elongated neck device may define the neck axis and the second end of the elongated neck device may define the head axis. 
   The actuation system may include a pivot device that is attached to the lever and the elongated neck device at the second end of the elongated neck device. The pivot device may include a post that defines the tilt axis. 
   In another general aspect, a method of moving a toy includes rotating an elongated neck device attached to a body of the toy about a neck axis, rotating a head attached to the elongated neck device about a head axis, and rotating the head about a tilt axis that is different from the head axis. All rotations are performed by a motor within the toy body and in response to a signal from a controller within the toy body. 
   In another general aspect, a method of moving a toy includes rotating a wheel attached to a body of the toy about a wheel axis to cause the body of the toy to move, and pivoting a first portion of the body relative to a second portion of the body about a pivoting axis that is perpendicular to the wheel axis while the body of the toy moves in a direction perpendicular to the wheel axis and the pivoting axis due to rotation of the wheel. 
   Implementations may include one or more of the following features. For example, the method may also include determining the position of the first body portion relative to the second body portion. Pivoting the first body portion relative to the second body portion may be based on the determined position. 
   The method may further include oscillating a pendulum rotatably attached to an inside surface of the body about an axis that is perpendicular to the direction in which the toy moves in response to successive movements of the toy in a forward and backward direction, and oscillating a pivoting member coupled to the pendulum and to a cavity of the body in response to oscillation of the pendulum. The method may include outputting a signal to an output device within the body when the pivoting member is oscillating. 
   In another general aspect, a toy includes a body including a first body portion and a second body portion, a wheel attached to the body of the toy, and an actuation system within the body. The wheel is able to rotate about a wheel axis to cause the body of the toy to move in a direction perpendicular to the wheel axis. The actuation system causes the first body portion to rotate relative to the second body portion about a pivoting axis that is perpendicular to the wheel axis and the direction of motion of the toy. 
   Implementations may include one or more of the following features. For example, the first body portion may house a wiper contact that includes electrically-conductive paths and the second body portion may house a set of conductive wipers that protrude from a surface of the second body portion and contact the electrically-conductive paths. The toy may include a controller coupled to the electrically-conductive paths to determine a location of the first body portion relative to the second body portion. The toy may also include a sensory region on the body of the toy and coupled to the controller. The controller is coupled to the actuation system to activate the actuation system upon receiving input from the sensory region. The sensory region may include a microphone and the controller may activate the actuation system in response to input from the sensory region that indicates a sound has been detected. 
   The toy may include a head region attached to the first body portion. The actuation system animates the head region after causing the first body portion to rotate relative to the second body portion. 
   The toy may further include a pendulum rotatably attached to an inside surface of the body and a pivoting member coupled to the pendulum and to a cavity of the body. The pendulum is free to oscillate about an axis that is perpendicular to the direction in which the toy moves. The pivoting member is free to oscillate about a pivot within the cavity. The pendulum may oscillate in response to successive movements of the toy in forward and backward directions. The pivoting member may oscillate about the pivot in response to oscillation of the pendulum. The toy may include an output device within the body that outputs a signal when the pivoting member oscillates. 
   In another general aspect, a toy includes a body including a first body portion and a second body portion, a controller within the body, a motor within the body and coupled to the controller, a steering system coupled to the motor and to the body, a head region coupled to the body, and an actuation system coupled to the motor and the head region. The steering system is configured to rotate the first body portion relative to the second body portion. The motor is configured to actuate the steering system to cause the first body portion to rotate relative to the second body portion and to cause the actuation system to animate the head region simultaneously with the relative motion between the first and second body portions when the controller receives a sensed condition. 
   Implementations may include one or more of the following features. For example, the toy may also include a wheel region attached to the body to rotate about a wheel axis, a second motor, and a second actuating system coupled to the second motor and to the wheel region to move the body in a direction that is perpendicular to the wheel axis. The toy may include a wheel region defining a wheel axis and coupled to the motor to move the toy in a forward direction and a backward direction, with both directions being perpendicular to the wheel axis. 
   The toy may also include a pendulum rotatably attached to an inside surface of the head region and free to oscillate about an axis that is perpendicular to the direction in which the toy moves, and a pivoting member coupled to the pendulum and to a cavity of the head region, the pivoting member being free to oscillate about a pivot within the cavity. The pendulum may oscillate in response to successive movements of the toy in the forward and backward directions. The pivoting member may oscillate about the pivot in response to oscillation of the pendulum. At least a portion of the pivoting member may be external to the head region. The toy may include an output device within the body. The controller causes the output device to output a signal when the pivoting member oscillates. 
   The actuation system may include first and second elongated devices that connect at one end to a pulley coupled to the motor and at another end to a lever within the head region. The first and second elongated devices may extend from the pulley along sides of the elongated neck device, and to the lever. 
   The elongated neck device may include a first end that couples to a post attached to the body, and a second end that couples to the lever. The first end of the elongated neck device may define the neck axis and the second end of the elongated neck device may define the head axis. 
   The actuation system may animate the head region by rotating the elongated neck device about a neck axis, rotating the head region about a head axis, and rotating the head region about a tilt axis that is different from the head axis in response to a signal from the controller. The actuation system may include a pivot device that is attached to the lever and to the elongated neck device at the second end of the elongated neck device. The pivot device may include a post that defines the tilt axis. 
   The steering system may cause the first body portion to rotate in a direction relative to the second body portion. 
   The actuation system may rotate the elongated neck device about the neck axis in a direction that is equivalent to the direction that the first body portion rotates relative to the second body portion. 
   The actuation system may rotate the elongated neck device about the head axis in a direction that is equivalent to the direction that the first body portion rotates relative to the second body portion. 
   The steering system may include a steering bar fixed within the first body portion, a hinge device fixed within the second body portion, and linkages that couple the steering bar to the hinge device. Actuation of the steering system may include rotating the steering bar to cause the linkages to move so as to cause the first body portion to move relative to the second body portion. 
   In another general aspect, a toy includes a body including a first body portion and a second body portion, a sensory region on the body, a controller that receives input from the sensory region on the body, a motor within the body and coupled to the controller, and an actuating system coupled to the motor and to the first and second body portions. The actuation system moves the first body portion relative to the second body portion when the controller receives input from the sensory region. The actuating system moves the first body portion relative to the second body portion in a direction that is based on the location of the sensory region on the body. 
   Implementations may include one or more of the following features. For example, the sensory region may include a touch-sensitive device. The touch-sensitive device may include a capacitively-coupled device or an inductively-coupled device. The sensory region may include a pressure-activated switch, a light-sensing device, or a sound-sensing device. 
   The actuating system may move the first body portion relative to the second body portion in a direction towards the sensory region. The actuating system may move the first body portion relative to the second body portion in a direction away from the sensory region. The actuating system may move the first body portion relative to the second body portion by pivoting the first body portion relative to the second body portion about a pivot axis. The pivot axis may intersect the first and second body portions. 
   The toy may further include a wheel region attached to the body to rotate about a wheel axis, a second motor within the body, and a second actuating system coupled to the second motor and to the wheel region to move the body in a direction that is perpendicular to the wheel axis. 
   Aspects of the toy can include one or more of the following advantages. For example, the animation of the head region and the actuation of the steering system are controlled by a single motor. Such a design reduces manufacturing costs and imparts a realism to the toy. The toy also may perform more realistically by reacting to a sensed input from a user by moving towards or away from the sensed input. Lastly, when the toy is in the form of a dog or domestic animal, the combined motion of the tail and the back region imparts further realism to the toy. 
   Other features will be apparent from the description, the drawings, and the claims. 

   
     DESCRIPTION OF DRAWINGS 
       FIG. 1  is a perspective view of a toy. 
       FIGS. 2-4  are perspective views of an internal assembly of the toy of  FIG. 1 . 
       FIGS. 5 and 6  are block diagrams of the internal assembly of  FIGS. 2-4 . 
       FIG. 7  is a block diagram showing the arrangement of sub-assemblies of the internal assembly of  FIGS. 2-4 . 
       FIGS. 8-10  are exploded perspective views of the sub-assemblies of  FIG. 7 . 
       FIGS. 11 and 13  are perspective views of the internal assembly of  FIGS. 2-4  with body panels removed. 
       FIG. 12  is an exploded perspective view of the internal assembly of  FIGS. 2-4  with the body panels removed. 
       FIG. 14  is a top view of the internal assembly of  FIGS. 2-4  with the body panels removed. 
       FIG. 15  is a front view of the internal assembly of  FIGS. 2-4  with the body panels removed. 
       FIG. 16  is a side view of the internal assembly of  FIGS. 2-4  with the body panels removed. 
       FIG. 17  is a perspective view of a portion of a head region of the internal assembly of  FIGS. 2-4 . 
       FIG. 18  is a perspective view of a portion of an interior of the head region of the internal assembly of  FIGS. 2-4 . 
       FIG. 19  is a perspective view of an interior of a first body portion of the internal assembly of  FIGS. 2-4 . 
       FIG. 20  is an exploded perspective view of an interior of the first body portion of the internal assembly of  FIGS. 2-4 . 
       FIG. 21  is a side view of a second base of a second body portion of the internal assembly of  FIGS. 2-4 . 
       FIG. 22  is a perspective view of the interior of the first body portion of the internal assembly of  FIGS. 2-4 . 
       FIGS. 23 ,  27 , and  29  are side views of a back region and a third actuation system of the internal assembly of  FIGS. 2-4 . 
       FIGS. 24 ,  28 , and  30  are rear views of the back region and the third actuation system of the internal assembly of  FIGS. 2-4 . 
       FIG. 25  is a perspective view of an interior of the back region of the internal assembly of  FIGS. 2-4 . 
       FIG. 26  is a flow chart of a procedure performed by the toy of  FIG. 1 . 
       FIGS. 31 and 32  are perspective views of a portion of the head region of the internal assembly of  FIGS. 2-4 . 
       FIGS. 33-36  are block diagrams showing relative motion between the first and second body portions of the internal assembly of  FIGS. 2-4 . 
       FIG. 37  is a side view of the back region and another implementation of the third actuation system. 
       FIG. 38  is a rear view of the back region and the other implementation of the third actuation system of  FIG. 37 . 
   

   Like reference symbols in the various drawings indicate like elements. 
   DETAILED DESCRIPTION 
   Referring to  FIGS. 1-4 , a toy  100  is designed to resemble a dog and to provide realistic movement in response to a sensed condition. To this end, the toy  100  has an internal assembly  105  of interconnected parts surrounded by a flexible skin  110 . The movements of the internal assembly  105  in response to sensed conditions, in combination with the manner in which the flexible skin  110  is attached to the internal assemble  105 , permits the toy  100  to mimic the appearance and mannerisms of a dog in a strikingly realistic manner. 
   The internal assembly  105  includes a set of moveable regions coupled to a body  115 . The moveable regions include one or more wheel regions  120 , a back region  125 , a head region  130 , and side regions  135 . The interconnected parts of the internal assembly  105  may be made of any suitable combination of materials, such as, for example, plastic and metal. 
   The internal assembly  105  also includes a set of input regions coupled to the body  115 . The input regions include a sensory region  140  within the head region  130 , a sensory region  145  within the back region  125 , and sensory regions  147  on a side of the body  115 . The sensory regions  140 ,  145 , and  147  each include pressure sensitive switches that actuate an underlying button switch within the body  115  when a user touches the toy  100  at a location  150 ,  155 , or  157  ( FIG. 1 ) near the respective sensory region  140 ,  145 , or  147 . 
   The flexible skin  110  is shaped to fit over and mate with the internal assembly  105 . Features, such as eyes  160  and a nose  165  snap into mating cavities of the skin  110  and the internal assembly  105 . The flexible skin  110  may be made of a resilient material that is covered with one or more external soft layers, such as pile that resembles an animal&#39;s coat. As shown in  FIG. 1 , the toy  100  is in the shape of a dog and the flexible skin  110  resembles the coat of a dog. 
   Referring also to  FIGS. 5-16 , the body  115  of the toy  100  houses components that control operation of the toy  100 .  FIGS. 5 and 6  show identical components, but to facilitate clarity, some components are shown with dashed lines in  FIG. 5  while other components are shown with dashed lines in  FIG. 6 .  FIG. 7  is an overview block diagram showing the general arrangement of sub-assemblies  700 ,  705 , and  710  of the internal assembly  105 .  FIGS. 8-10  show exploded views of the sub-assemblies  700 ,  705 , and  710 , respectively. 
   As shown in  FIGS. 5 and 6 , the body  115  includes a first body portion  500  and a second body portion  505 . The first body portion  500  includes a first body panel  510  connected to a first base  515  (as shown in  FIGS. 2-4 ). The first body panel  510  includes body panel pieces  900  and  905  (as shown in  FIGS. 9 and 10 ) that mate to protect the components housed within the first body portion  500 . 
   As also shown in  FIGS. 5 and 6 , two of the wheel regions  120  and the head region  130  connect to the first base  515  of the first body portion  500 . Additionally, the side regions  135  attach to the first body panel  510  of the first body portion  500 . The second body portion  505  includes a second body panel  520  connected to a second base  525  (as shown in  FIGS. 2-4  and  8 ). Two of the wheel regions  120  connect to the second base  525 , and the back region  125  attaches to the second body panel  520 . The second body panel  520  houses the sensory regions  147 , which are positioned below the back region  125 . 
   As also shown in  FIGS. 5 and 6 , the first body portion  500  houses a first motor  535  coupled to a first actuation system  540  and a second motor  545  coupled to a second actuation system  550 . The first actuation system  540  is coupled to the two wheel regions  120  that are connected to the first base  515 . The second actuation system  550  is coupled to the head region  130  and to a steering system  528  (discussed below). 
   As also shown in  FIGS. 5 and 6 , the second body portion  505  houses internal control circuitry  555  and an energy source  560  that supplies power to the circuitry  555 . The energy source  560  may be provided by batteries  561  (shown in  FIG. 8 ) that are placed within a compartment  562  (shown in  FIG. 4 ) on a lower side of the second base  525 . The internal control circuitry  555  is turned off and on by a switch  565  (shown in  FIG. 4 ) that is accessible from the first base  515 . The internal control circuitry  555  is connected to an audio device  570  housed within the head region  130 . The internal control circuitry  555  includes one or more of a processor or a controller, passive and active electronic components, and memory. 
   As also shown in  FIGS. 5 and 6 , the second body portion  505  also houses a third actuation system  585  that couples the back region  125  to the two wheel regions  120  that are connected to the second base  525 . 
   As shown in  FIG. 6 , the body  115  houses the steering system  528 , which is formed from several components attached to the first and second bases  515  and  525 . The steering system  528  includes a steering bar  530  (shown in  FIG. 9 ) that is housed within the first body portion  500  and is fixed to the first base  515 . The steering system  528  also includes a hinge device  575  (shown in  FIG. 9 ) housed within the second body portion  505  and fixed to the second base  525  of the second body portion  505 . The hinge device  575  couples to the steering bar  530  through linkages  580  (shown in  FIG. 9 ). 
   As shown in  FIG. 9 , the second motor  545  is mounted to a frame  910  with frame brackets  912  and  914 . The frame  910  is attached to a frame base  915  that is attached to a wheel base  920 . The wheel base  920  is attached to the first base  515 . Attachment between pieces may be accomplished using any suitable technique, such as, for example, mating between screws on one piece and tapped holes on the other piece, snap or friction fit between the pieces, or adhesive attachment between the pieces. 
   As shown in FIGS.  9  and  14 - 16 , the second actuation system  550  couples to a motor shaft  925  of the second motor  545 . The second actuation system  550  includes a shaft pulley  930  fixed to the motor shaft  925 , a drive belt  935 , and a drive pulley  940  (shown also in  FIGS. 11-13 ). The drive belt  935  frictionally engages the shaft pulley  930  and the drive pulley  940 . 
   As shown in FIGS.  9  and  11 - 16 , the second actuation system  550  includes a drive shaft  945 , a worm gear  950  connected to the drive shaft  945 , a set of gears  955 ,  960 ,  965 ,  970 ,  975 ,  980 ,  985 ,  990 , and  995 , and a spring  1000 . Gear  955  includes a first set of gear teeth that couple to the worm gear  950  and a second set of gear teeth that couple to teeth on gear  960 . Gear  960  is frictionally engaged with gear  965 . For example, the gear  960  includes serrations that mate with serrations of the gear  965 . Both of the gears  960  and  965  are supported on the frame base  915  by a shaft  1005 . 
   Gear  965  couples to a first set of teeth on gear  970 . Both of gears  970  and  955  are supported on the frame base  915  by a shaft  1010 . Gear  975  is coupled to a second set of teeth on gear  970  and is frictionally engaged with gear  980 . For example, gear  975  includes a hex head  1015  that mates with a hex socket (not shown) of the gear  980 . The teeth on gear  980  couple with the teeth on gear  985 . Gear  985  is supported on the frame  910  by a shaft  1025  (as shown in  FIGS. 14 and 17 ). 
   The teeth on gear  975  couple with a first set of teeth on gear  995 . The teeth on gear  990  couple with a second set of teeth on gear  995 . Gear  995  is supported on the frame base  915  by a shaft  1020 . Gears  980 ,  975 , and  990  are supported on the frame base  915  by a shaft  1030 , which is frictionally engaged with gear  990  to rotate as gear  990  is rotated. 
   Referring to FIGS.  9  and  11 - 17 , the second actuation system  550  further includes a neck pulley  1035  supported on the frame  910  with the shaft  1025 . The neck pulley  1035  is frictionally engaged with gear  985  and/or the shaft  1025  to rotate as gear  985  rotates. 
   Referring in particular to  FIG. 17 , the neck pulley  1035  includes a pair of posts  1040  and  1045  that receive, respectively, elongated devices  1050  and  1055  that extend into the head region  130 . The elongated devices  1050  and  1055  are made of any flexible material, such as, for example, string or fabric, that becomes slack in the absence of any tensioning or pulling force. The elongated devices  1050  and  1055  wrap around an outer circumference  1060  of the neck pulley  1035 , intersect at a location on a side of the neck pulley  1035  opposite the posts  1040  and  1045 , and wrap around a cylindrical post  1065  of the head region  130 . 
   Referring also to  FIG. 10 , the first body portion  500  includes a protective plate  1067  that attaches to the frame  910  and covers the cylindrical post  1065 , the neck pulley  1035 , and the elongated devices  1050  and  1055 . 
   As shown in  FIGS. 10-17 , the head region  130  includes a neck device  1070  that is integral with the cylindrical post  1065 . The cylindrical post  1065  is configured to rotate about an axis  3100  (shown in  FIGS. 31 and 32 ) that is defined by a shaft  1069  (shown in  FIG. 17 ) that is fixed to a post  1071  (shown in  FIG. 9 ) of the frame  910 . The neck device  1070  includes guide members  1075  and  1080  (shown in  FIGS. 10 ,  11 ,  16 , and  17 ) that receive, respectively, the elongated devices  1050  and  1055 . 
   The head region  130  includes a first rounded portion  1085  that mates with a second rounded portion  1090  and receives a plate  1095  that houses the audio device  570 . The first rounded portion  1085  and the second rounded portion  1090  mate together to form a shape that resembles a head ( FIGS. 2-4 ). The first rounded portion  1085  is configured to house the sensory region  140  and to receive the eyes  160  and the nose  165  ( FIGS. 2-6  and  10 ). 
   Referring in particular to  FIG. 17 , the guide members  1075  and  1080  guide the elongated devices  1050  and  1055  from the neck pulley  1035  along sides of the neck device  1070 , and to a tilt lever  1100  (shown also in  FIG. 10 ) housed within the first rounded portion  1085 . The elongated devices  1050  and  1055  are secured to, respectively, posts  1105  and  1110  on the tilt lever  1100 . The tilt lever  1100  and the neck device  1070  are attached to a pivot device  1115  (shown also in FIGS.  10  and  12 - 16 ). In particular, the tilt lever  1100  includes a hole  1102  (shown in  FIGS. 10 and 12 ) and the neck device  1070  includes a hole  1072  (shown in  FIGS. 10 and 12 ). The holes  1072  and  1102  receive a shaft  1117  (shown in  FIGS. 16 and 17 ). The shaft  1117  passes through holes  1119  of the pivot device  1115  (shown in  FIGS. 10 and 12 ). The tilt lever  1100  and the neck device  1070  are free to rotate about an axis  3117  (shown in  FIGS. 31 and 32 ) defined by the shaft  1117  of the pivot device  1115 . The axis  3117  is approximately parallel to the axis  3100 . 
   As shown in FIGS.  10  and  12 - 16 , the pivot device  1115  includes a post  1120  that mates with a post  1125  ( FIG. 10 ) of the plate  1095 . In this way, the pivot device  1115  and the plate  1095  are able to rotate freely about an axis  3125  (shown in  FIGS. 31 and 32 ) extending along the longitudinal length of the posts  1120  and  1125  relative to each other. In general, the axis  3125  is not parallel to the axis  3117 . In one implementation, the axis  3125  is approximately perpendicular to the axis  3117 . 
   Referring again to  FIGS. 10 and 17 , and also to  FIG. 18 , the head region  130  includes a pivoting member  1700  that fits within a lower cavity formed from a raised panel  1702  of the first rounded portion  1085 . The pivoting member  1700  fits through an opening of the plate  1095 . The opening is sized to receive the pivoting member  1700  when the plate  1095  is attached to the first rounded portion  1085 . 
   As shown in  FIG. 18 , the pivoting member  1700  has protrusions  1705  that mate with recesses  1707  within the raised panel  1702 . The pivoting member  1700  is formed from a first piece  1704  and a second piece  1706 . The first piece  1704  extends out of the first rounded portion  1085  from one side of the protrusions  1705 , and the second piece  1706  extends from another side of the protrusions  1705 . A catch device  1710  extends from the pivoting member  1700  and through a slot  1715  (shown also in  FIG. 10 ) within the raised panel  1702  when the pivoting member  1700  is inserted into the cavity of the raised panel  1702  (as shown in  FIG. 18 ). 
   As shown in  FIG. 18 , the catch device  1710  defines a catch slot  1720  that receives a first end of a connector  1725 . A second end of the connector  1725  is rotatably fixed to a lower end  1730  of a pendulum  1735 . The pendulum  1735  includes a pivot bar  1740  that fits within a cylindrical depression  1745  on the inside surface  1750  of the first rounded portion  1085 . The pivot bar  1740  is free to rotate about its longitudinal axis so that the lower end  1730  of the pendulum  1735  is free to rotate. 
   Referring to  FIGS. 3 ,  4 ,  10 , and  17 , to protect the pivoting member  1700 , the head region  130  includes a cover  1755  that attaches to a back side of the plate  1095  and covers the portion of the pivoting member  1700  that is received within the opening of the plate  1095 . 
   With reference again to  FIGS. 9 ,  12 ,  13 , and  16 , gears  980 ,  975 , and  990  are supported on the frame base  915  by the shaft  1030 , which is frictionally engaged with gear  990  to rotate as gear  990  is rotated. As shown in  FIGS. 11 and 12 , the shaft  1030  is frictionally engaged with a post  1205  that is attached to or integral with the steering bar  530 . In this way, the steering bar  530  rotates as the shaft  1030  rotates. The steering bar  530  includes posts  1210  and  1215  that extend from a plane  1220  of the steering bar  530  (shown in  FIGS. 9 and 12 ). 
   Referring to  FIGS. 9 ,  11 - 14 , and  16 , first ends of the linkages  580  connect to the posts  1210  and  1215  and second ends of the linkages  580  couple to posts  1225  and  1230  of the hinge device  575 . As shown in  FIGS. 9 ,  11 ,  13 ,  14 , and  16 , the hinge device  575  includes posts  1245  and  1250  that align with, respectively, threaded posts  1255  and  1260  (shown in  FIG. 8 ) of the second base  525  when the hinge device  575  is placed on the second base  525 . The hinge device  575  includes a post  1235  that aligns with a threaded post  1237  (shown in  FIGS. 9 and 19 ) on the first base  515 . The threaded post  1237  is received within a hole  1240  (shown in  FIG. 8 ) of the second base  525  to join the first body portion  500  with the second body portion  505 . The hinge device  575  is fixed to the second base  525  with screws  1269  (shown in  FIG. 14 ) having threads that mate with respective threads of the posts  1255  and  1260 . The second base  525  is fixed to the first base  515  with a screw  1270  (shown in  FIG. 11 ) having threads that mate with threads of the post  1237 . 
   Referring also to  FIGS. 19 and 20 , the first motor  535  is mounted to the first base  515  by base brackets  1800  and  1805  (shown also in  FIG. 10 ). As also shown in  FIG. 5 , the first motor  535  connects with the first actuation system  540 . The first actuation system  540  is mounted between the wheel base  920  and the first base  515  (shown also in  FIG. 9 ). 
   With particular reference to  FIGS. 9 ,  10 ,  19 , and  20 , the first actuation system  540  includes a set of gears  1810 ,  1815 ,  1820 ,  1825 , and  1830 , and a clutch  1835 , that couple to a motor shaft  1840  ( FIG. 10 ) of the first motor  535 . The first actuation system  540  also includes an axle  1845  that couples to the two wheel regions  120  within the first body portion  500 . 
   As shown in  FIGS. 19 and 20 , gear  1810  is mounted to the shaft  1840  to rotate as the shaft  1840  rotates. Teeth of gear  1810  engage a first set of teeth on gear  1815 . A second set of teeth on gear  1815  engage a first set of teeth on gear  1820 . A second set of teeth on gear  1820  engage a first set of teeth on gear  1825 . A second set of teeth on gear  1825  engage teeth on gear  1830 , which is fixed to the clutch  1835 . The clutch  1835  is formed with a socket  1847  that mates with the axle  1845  such that, as the clutch  1835  rotates, the axle  1845  rotates. The axle  1845  mates with sockets  1850  of the wheel regions  120 . 
   Referring to  FIGS. 9 ,  10 ,  19 , and  20 , each of the side regions  135  includes a connector  137  formed on an inside surface of the side region  135 . Each connector  137  mates with a connector  902  formed on an outside surface of the body panel piece  900  or  905 . Each of the side regions  135  includes a protrusion  139  that is sized to fit within a slot  517  of the first base  515  and a slot  518  of the wheel base  920 . The slot  518  mates with the slot  517  when the wheel base  920  is attached to the first base  515 . The protrusion  139  is sized to extend through the slots  517  and  518 , and into a wheel recess  519  that receives one of the front wheel regions  120 . The protrusion  139  is formed with an edge  141  that engages a cam  122  of the front wheel region  120  when the side region  135  is attached to the body panel piece  900  or  905 . 
   Referring to  FIG. 21 , the second base  525  of the second body portion  505  includes a set of conductive wipers  2000  that protrude from a lower surface  2005  of the second base  525 . Referring to  FIG. 22 , the first body portion  500  houses a wiper contact  2010  that is mounted within grooves  2012  (shown in  FIG. 20 ) of the wheel base  920 . The wiper contact  2010  is secured to the first base  515  using screws  2015  that mate with posts  2020  of the first base  515  (shown also in  FIG. 20 ). As shown in  FIGS. 9 ,  19 , and  20 , the posts  2020  of the first base  515  protrude through aligned holes  2025  of the wheel base  920 . 
   With reference to  FIG. 22 , the wiper contact  2010  includes electrically-conductive paths  2030 - 2055  that have different shapes and are spaced apart from each other by a distance equivalent to the distance separating each of the wipers  2000 . When the first body portion  500  is joined with the second body portion  505 , the wipers  2000  contact the paths  2030 - 2055 . The paths  2030 - 2055  are electrically connected to the circuitry  555  by conductive and insulated wires. 
   Referring again to  FIGS. 2-4  and  8 , and also to  FIGS. 23-25 , the back region  125  includes a back panel  2200  and a tail  2205  (shown in  FIGS. 2-4 ,  8 , and  25 ) connected to the back panel  2200 . The back panel  2200  includes cylindrical projections  2210  and  2215  that extend from, respectively, side surfaces  2220  and  2225  of the back panel  2200 . The cylindrical projection  2210  is shaped to fit within a cavity  2230  (shown in  FIG. 8 ) of the second body panel  520  and a cavity (not shown) formed between a curved region (not shown) of an open side  2235  (shown in  FIG. 8 ) of the second body panel  520  and a curved region  2240  of an internal piece  2245  (shown in  FIG. 8 ) mounted to the second base  525 . As shown in  FIGS. 23 and 24 , the back panel  2200  is configured to rotate or pivot about an axis  2250  extending from the projection  2210  to the projection  2215 . 
   With reference to  FIG. 25 , the back panel  2200  includes a lower surface  2252  having an opening  2255 . The opening  2255  receives a crank fixture  2260  that defines an opening  2262 . As shown in  FIGS. 23 and 24 , the crank fixture  2260  is shaped to couple to the third actuation system  585  and is configured to move transversely and rotationally relative to the opening  2255 . 
   Referring to  FIGS. 23 and 24 , the third actuation system  585  includes a crank  2265 , a crank gear  2280 , a coupling gear  2285 , and wheel gear  2290 . The crank  2265  includes an opening  2270  and the crank gear  2280  includes an opening  2282  offset from the center of rotation of the crank gear  2280 . The crank  2265  and the crank gear  2280  are coupled together by an eccentric pin  2275  that is inserted through the openings  2270  and  2282 . The crank gear  2280  includes teeth that mate with teeth on the coupling gear  2285 , and the coupling gear  2285  includes teeth that mate with teeth on the wheel gear  2290 . The wheel gear  2290  is fixed to an axle  2295  of one of the wheel regions  120  (also referred to as the wheel region  2296 ) within the second body portion  505 . 
   Referring also to FIGS.  8  and  11 - 14 , the third actuation system  585  is retained within the second body portion  505  between the second body panel  520  and the second base  525 . In particular, the third actuation system  585  fits between base shelves  2300  and  2305  that protrude from the second base  525  and a wheel shelf  2310  ( FIG. 8 ) that fits within and secures to a cavity  2315  of the base  525 . 
   Referring to  FIG. 26 , the toy  100  performs a procedure  2600  during operation. Initially, the internal circuitry  555  of the toy  100  receives a signal from the switch  565  to turn on the toy  100  (step  2605 ). Next, the internal circuitry  555  receives input from one or more of the input regions (step  2610 ). For example, with reference to  FIG. 1 , the circuitry  555  may receive input from the sensory region  140  within the head region  130  in response to pressure applied to the location  150  of the toy  100 . As another example, the circuitry  555  may receive input from the sensory region  145  within the back region  125  in response to pressure applied to the location  155  of the toy  100 . As a further example, the circuitry  555  may receive input from one of the sensory regions  147  within the second body portion  505  in response to pressure applied to the location  157  of the toy  100 . 
   As shown in  FIGS. 5 and 6 , upon receiving the input (step  2610 ), the circuitry  555  determines the output device and which of the first and second motors  535  and  545  to actuate (step  2615 ) to cause an appropriate response from the toy  100 . For example, the circuitry  555  may determine that the first and second motors  535  and  545  and the output device should be activated. As another example, the circuitry  555  may determine that only one of the first motor  535 , the second motor  545 , or the output device should be activated. 
   If the circuitry  555  determines (step  2615 ) that the first motor  535  should be actuated, then the first motor  535  is actuated (step  2620 ). If the circuitry  555  determines (step  2620 ) that the output device should be actuated, then the output device is actuated (step  2623 ). If the circuitry  555  determines (step  2620 ) that the second motor  545  should be actuated, then the second motor  545  is actuated (step  2625 ). 
   Actuation of the first motor  535  (step  2620 ) causes actuation of the wheel regions  120  within the first body portion  500  (step  2630 ). In particular, with reference to  FIGS. 5 ,  10 ,  19 , and  20 , actuation of the first motor  535  rotates the motor shaft  1840 , which rotates gear  1810 . As gear  1810  rotates, gear  1815  rotates, which causes gear  1820  to rotate. Rotation of gear  1820  causes rotation of gear  1825 , which causes rotation of gear  1830  and the clutch  1835 . As mentioned, the clutch  1835  is keyed with the axle  1845 . Thus, as the clutch  1835  rotates, the axle  1845  rotates, which causes the wheel regions  120  within the first body portion  500  to rotate. Rotation of the wheel regions  120  causes the toy  100  to move forward (that is, in the direction of arrow  180  in  FIG. 1 ) or backward (that is, in the direction of arrow  185  in  FIG. 1 ), depending on the direction of rotation of the motor shaft  1840 . 
   As the wheel regions  120  within the first body portion  500  are rotated (step  2630 ) and the toy  100  moves forward and backward, the back region  125  is actuated (step  2635 ). In particular, with reference to FIGS.  8  and  23 - 25 , as the wheel region  120  within the first body portion  500  is rotated, both wheel regions  120  within the second body portion  505  are rotated because the toy  100  is moving forward or backward. As the wheel region  2296  is rotated, the wheel gear  2290  fixed to the axle  2295  rotates, causing the coupling gear  2285  to rotate. Rotation of the coupling gear  2285  causes rotation of the crank gear  2280 . 
   As the crank gear  2280  rotates, the pin  2275  rotates, causing the crank  2265  to move in a periodic motion. In this way, the energy of the rotation of the wheel region  2296  is imparted into translation of the crank  2265 . Referring also to  FIGS. 27 and 28 , as the crank  2265  is moved upward (by the force of the pin  2275 ), the crank  2265  pushes on a side  2700  of the back panel  2200  and the back panel  2200  is rotated about the axis  2250  in the direction of arrow  2800 . Referring also to  FIGS. 29 and 30 , as the crank  2265  is moved downward (by the force of the pin  2275 ), the crank  2265  pulls on the side  2700  of the back panel  2200  and the back panel  2200  is rotated about the axis  2250  in the direction of arrow  3000 . Thus, in operation, as the toy moves forward or backward, the back panel  2200  oscillates about the axis  2250 . Furthermore, the tail  2205 , which is attached to the back panel  2200 , moves in a wagging motion as the back panel  2200  oscillates. 
   As the wheel regions  120  within the first body portion  500  are actuated (step  2630 ) and the toy  100  moves forward and backward, the side regions  135  are actuated (step  2640 ). In particular, with reference to  FIGS. 9 ,  10 ,  19 , and  20 , as the wheel regions  120  within the first body portion  500  are actuated (step  2630 ), the cams  122  in each of the wheel regions  120  are rotated. As one of the cams  122  rotates, the edge  141  of the protrusion  139  that is engaged with the cam  122  moves along the outer perimeter of the cam  122 . The protrusion  139  is attached to the side region  135 , which is rotatably attached to the body panel piece  900  or  905 . In this way, as the protrusion  139  moves along the outer perimeter of the cam  122 , the side region  135  rotates about the connector  137 , thus causing the side region  135  to oscillate, that is, move in a back and forth or periodic motion. Such a motion imparts a realistic appearance that the toy  100  is walking forward or backward. 
   Actuation of the output device (step  2623 ) causes the output device to output a response. For example, if the output device is the audio device  570 , actuation of the audio device  570  causes the audio device  570  to emit one or more sounds such as, for example, a bark, a pant, a whine, a growl, or a yawn if the toy  100  is in the form of a dog. In general, the one or more sounds emitted from the audio device  570  would correlate with the design or appearance of the toy  100 . The one or more sounds emitted from the audio device  570  may correlate with actuation of the first and/or second motors. Thus, if the first motor  535  causes the toy  100  to move forward and backward in a rapid motion, the audio device  570  may emit several panting sounds. 
   Referring also to  FIG. 18 , as the wheel regions  120  are actuated (step  2630 ), the toy  100  moves forward  180  or backward  185  and the lower end  1730  of the pendulum  1735  swings. Thus, the lower end  1730  swings backward (that is, away from the first rounded portion  1085 ) as the toy  100  moves forward, and the lower end  1730  swings forward (that is, toward the first rounded portion  1085 ) as the toy  100  moves backward. As the lower end  1730  swings backward, the connector  1725  moves the catch device  1710  backward, which causes the first and second pieces  1704  and  1706  of the pivoting member  1700  to pivot about an axis  1880  defined along protrusions  1705  in the direction of arrow  1885 . As the lower end  1730  swings forward, the connector  1725  moves the catch device  1710  forward, causing the first and second pieces  1704  and  1706  of the pivoting member  1700  to pivot about the axis  1880  in the direction of arrow  1890 . 
   In the illustrated implementation, where the toy  100  is shaped to resemble a dog, the first piece  1704  resembles a tongue. Thus, as the toy  100  moves back and forth in rapid succession, the lower end  1730  swings forward and backward rapidly (that is, the lower end  1730  oscillates) and the tongue bobs up and down in a rapid succession. Simultaneous with the rapid motion of the tongue, the circuitry  555  actuates the audio device  570  to emit a panting sound. In this way, a realistic panting action is imparted to the toy  100 . 
   Actuation of the second motor  545  (step  2625 ) causes actuation of the head region  130  (step  2645 ). In particular, with reference to FIGS.  6  and  9 - 17 , actuation of the second motor  545  causes the motor shaft  925  to rotate, which causes the shaft pulley  930  to rotate. As the shaft pulley  930  rotates, the drive belt  935 , through frictional engagement with the shaft pulley  930  and the drive pulley  940 , causes the drive pulley  940  to rotate. The drive pulley  940  rotates the worm gear  950 , which is coupled to the first set of gear teeth on gear  955 . In this way, gear  955  is rotated. As gear  955  rotates, the second set of gear teeth engage the teeth on gear  960  and cause gears  960  and  965  to rotate. As gear  965  rotates, the teeth on gear  965  engage the first set of teeth on gear  970  to cause gear  970  to rotate. The second set of teeth on gear  970  rotate and cause gear  975  to rotate. Because gear  980  is frictionally engaged with gear  975 , gear  980  rotates with gear  975  and causes gear  985  to rotate. 
   As shown in  FIGS. 11 and 16 , gear  985  is frictionally engaged with the neck pulley  1035 . Thus, as gear  985  rotates, the neck pulley  1035  rotates and actuates the elongated devices  1050  and  1055  (seen in  FIG. 17 ) to animate the head region  130 , as detailed below. 
   Referring also to  FIG. 31 , the elongated device  1055  is tensioned or pulled and the elongated device  1050  is slackened due to the rotation of the pulley  1035  in a first direction. The combined motion of the elongated devices  1050  and  1055  causes the neck device  1070  to rotate about the axis  3100  extending along the shaft  1069  and in the direction of arrow  3105 . Next, after the neck device  1070  rotates a predetermined distance, the elongated device  1055  pulls a first side  3110  of the tilt lever  1100  and the elongated device  1050  provides slack to a second side  3115  of the tilt lever  1100 . This combined motion rotates the tilt lever  1100  about the axis  3117  extending along the shaft  1117  in the direction of arrow  3120 . The rotation of the tilt lever  1100  causes the first rounded portion  1085  (and anything fixed to the first rounded portion  1085 ) to rotate about the axis  3125  extending along the longitudinal length of the posts  1120  and  1125  in the direction of arrow  3130 . 
   Referring also to  FIG. 32 , the elongated device  1055  is slackened and the elongated device  1050  is tensioned or pulled due to rotation of the pulley  1035  in a second direction that is opposite the first direction. The combined motion of the elongated devices  1055  and  1050  causes the neck device  1070  to rotate about the axis  3100  in the direction of arrow  3135 . After the neck device  1070  rotates a predetermined distance, the elongated device  1055  provides slack to the first side  3110  of the tilt lever  1100  and the elongated device  1050  pulls the second side  3115  of the tilt lever  1100 . This combined motion rotates the tilt lever  1100  about the axis  3117  in the direction of arrow  3140 . The rotation of the tilt lever  1100  in the direction of arrow  3140  causes the first rounded portion  1085  (and anything fixed to the first rounded portion  1085 ) to rotate about the axis  3125  in the direction of arrow  3145 . 
   The combined motion of the neck device  1070  and the first rounded portion  1085  imparts a realistic motion to the toy  100  and is achieved with a single actuation system, that is, the second actuation system  550 . 
   Moreover, actuation of the second motor  545  (step  2625 ) causes actuation of the steering system  538  (step  2650 ). In particular, with reference to  FIGS. 6 ,  8 ,  9 ,  11 - 16 , and  20 - 22 , and as discussed above, gear  975  is rotated as the second motor  545  is actuated. Rotation of gear  975  causes rotation of gear  995 , which causes rotation of gear  990 . Gear  990  is fixed to the shaft  1030  and the shaft  1030  rotates as gear  990  rotates, which causes the post  1205  and the steering bar  530  to rotate. As the steering bar  530  rotates, the linkages  580  connected to the posts  1210  and  1215  of the steering bar  530  are pulled or pushed. 
   Referring also to  FIG. 33 , as the steering bar  530  rotates in a first direction (indicated by arrow  3300 ), a first linkage  3305  is pulled while a second linkage  3310  is pushed. The first and second linkages  3305  and  3310  are connected, respectively, to posts  1230  and  1225  of the hinge device  575 . Thus, the force applied to the linkages  3305  and  3310  causes the first body portion  500  to rotate relative to the second body portion  505  about an axis  2100  defined by the posts  1235  and  1237  in the direction of arrow  3315 . 
   Referring also to  FIG. 34 , as the steering bar  530  rotates in a second direction (indicated by arrow  3400 ) that is opposite the first direction  3300 , the first linkage  3305  is pushed while the second linkage  3310  is pulled. The force applied to the linkages  3305  and  3310  causes the first body portion  500  to rotate relative to the second body portion  505  about the axis  2100  in the direction of arrow  3415 . 
   Actuation of the steering system  538  (step  2650 ) may be in response to input received from one of the sensory regions  147  (step  2615 ). Thus, if the circuitry  555  receives a signal from a sensory region  147  on a first side  590  ( FIGS. 5 ,  6 ,  33 , and  34 ) of the second body portion  505 , the first body portion  500  rotates in the direction of arrow  3315  ( FIG. 33 ), that is, toward the location of the input. Alternatively, if the circuitry  555  receives a signal from a sensory region  147  on a second side  595  ( FIGS. 5 ,  6 ,  33 , and  34 ) of the second body portion  505 , the first body portion  500  rotates in the direction of arrow  3415  ( FIG. 34 ), that is, toward the location of the input. 
   Actuation of the steering system  538  (step  2650 ) may, for particular input (step  2615 ) occur simultaneously with actuation or animation of the head region  130  (step  2645 ). Thus, for example, if the circuitry  555  receives input from the sensory region  147  on the first side  590  ( FIGS. 5 ,  6 ,  33 , and  34 ) of the second body portion  505 , the circuitry  555  simultaneously causes the first body portion  500  to rotate in the direction of arrow  3315  ( FIG. 33 ) and causes the head region  130  to animate as shown in  FIG. 32 . As another example, if the circuitry  555  receives input from the sensory region  147  on the second side  595  ( FIGS. 5 ,  6 ,  33 , and  34 ) of the second body portion  505 , the circuitry  555  simultaneously causes the first body portion  500  to rotate in the direction of arrow  3415  ( FIG. 34 ) and causes the head region  130  to animate as shown in  FIG. 31 . 
   Referring also to  FIGS. 35 and 36 , as the first body portion  500  rotates relative to the second body portion  505 , the wiper contact  2010  fixed to the first body portion  500  passes over the set of conductive wipers  2000  on the second body portion  505 . The electrical signal from the conductive paths  2030 - 2055  of the wiper contact  2010  changes as the wiper contact  2010  moves across the wipers  2000 . The circuitry  555  receives the electrical signal and determines the position of the first body portion  500  relative to the second body portion  505 . The circuitry  555  decides whether additional actuation of the first or second motors or the output device is required (step  2655 ) based on the position of the first body portion  500  relative to the second body portion  505 . If no additional actuation is required, the circuitry  555  awaits a signal from the switch  565  to turn off the toy  100  (step  2660 ) or the circuitry  555  enters sleep mode if no input has been received within a predetermined period of time. 
   Other implementations are within the scope of the following claims. For example, the toy  100  may be designed to resemble other animals, such as a cat. The toy  100  also may be designed without a flexible skin. The flexible skin  110  may include rigid pieces, such as, for example, posts, that interfit with cavities of the internal assembly  105  to facilitate securing of the skin  110  to the assembly  105 . Additionally, ears, eyes, and a nose may be formed into the skin  110  instead of the internal assembly  105  to facilitate securing of the skin  110  to the assembly  105 . The toy  100  may include a resilient material between the internal assembly  105  and the flexible skin  110  to further enhance realism of the toy  100 . 
   The sounds emitted from the audio device  570  may correlate with the form of the toy  100 . Thus, if the toy  100  is in the form of a cat, the audio device  570  may emit a purring sound or a meowing sound. 
   The toy may include additional sensory regions positioned within any one or more of the first body portion  500 , the second body portion  505 , one or more wheel regions  120 , the head region  130 , or one or more side regions  135 . 
   One or more of the sensory regions may include a magnetic switch, such as, for example, a reed switch or a Hall effect sensor, that is actuated by an external magnet when the magnet is placed at the location near the sensory region. One or more of the sensory regions may include touch-sensitive devices. For example, the sensory region may be made of a conductive material and be a capacitively-coupled device such that when a user touches the toy  100  at the location of the sensory region, a measured capacitance associated with the capacitively-coupled device changes and the change is sensed. As another example, the sensory region may be made of a conductive material and be an inductively-coupled device. In this case, when a user touches the toy  100  at the location of the sensory region, a measured inductance associated with the inductively-coupled device changes and the change is sensed. 
   One or more of the sensory regions may include a pressure sensing device such as, for example, a pressure-activated switch in the form of a membrane switch. One or more of the sensory regions may include a light-sensing device, such as, for example, an IR-sensing device or a photocell. Additionally or alternatively, one or more of the sensory regions may include a sound-sensing device such as, for example, a microphone. 
   The internal control circuitry, the battery, and the output device may be housed in other parts of the internal assembly. For example, the circuitry, the battery, and the audio device may all be housed in the first body portion or all be housed in the second body portion. 
   The toy  100  may be of any design, such as, for example, a doll, a plush toy such as a stuffed animal, a dog or other animal, or a robot. The output device may be an optical device or an electro-mechanical device. 
   In another implementation, the elongated devices  1050  and  1055  may be made of a flexible, yet firm material, such as a wire strip that may be pulled or pushed. 
   Referring also to  FIGS. 37 and 38 , in another implementation, the third actuation system  585  is formed of the crank  2265 , a crank pulley  3780 , a coupling belt  3785 , and a wheel pulley  3790 . The crank pulley  3780  includes an opening  3782  offset from the center of rotation of the crank pulley  3780 . The crank  2265  and the crank pulley  3780  are coupled together by the eccentric pin  2275  inserted through the openings  2270  and  3782 . The crank belt  3785  is frictionally engaged with the crank pulley  3780  and the wheel pulley  3790 . The wheel pulley  3790  is fixed to the axle  2295  of the wheel region  2296  within the second body portion  505 . 
   As the wheel region  2296  is rotated, the wheel pulley  3790  fixed to the axle  2295  rotates, causing the coupling belt  3785  to move and rotate the crank pulley  3780 .