YOTARO is a baby-type robot developed to create a new communication perspective between robots and humans through interaction experience based on the reproduction of a baby's behaviors and user actions. YOTARO exhibits different emotions and reactions, such as smiling, crying, sleeping, sneezing, and expressing anger. It is controlled by an emotion control program that executes in response to inputs such as touching its soft and warm face, touching its stomach, and shaking a rattle. The output is in the form of interactive reactions such as emission of sounds, change of expressions, limb movements, sniveling, and variation in skin color. In addition, we used questionnaires to observe the impression on users before and after their experience with YOTARO.