A humanoid robot has been developed to co-exist with humans in daily life. However there are hardly any studies of the robots from the human perspective and of actual interaction between humanoid robots and the public in daily life. This paper presents a long-term public demonstration that encourages interaction between a bipedal humanoid robot and people. We have performed the storytelling demonstration that enhances people’s empathy towards a robot and measured human-friendly characteristics of a robot by the participant survey. This paper suggests human-friendly characteristics evaluation model which consists of robots'' human friendliness and its human-appearance. The human-friendliness was measured in terms of the three elements ? impression, interaction with humans, and imitation of human motions. The human appearance was measured in terms of four aspects - gender, age, height and body type. We have collected a significant amount of evaluation data from the participants. Its analysis showed that human-scale bipedal humanoid robots, KIBO and HUBO are received as a robot with high human-friendliness. Their appearance was perceived as a person of early teen age with somewhat short height and plump body. The data from the performance index of the robots was mirrored in the results from participant evaluation. In the evaluation data, both robot’s interaction with humans elements received higher than imitation of human motions elements. This means participants saw interaction with humans as more desired element than motion performance. When measuring human-friendliness of the robots, the participant'' gender played less important role than their age. Thus it would be more effective to take the user’s age into account than their gender in humanoid robots design.