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SDR-4X II is the latest prototype model which is a small biped entertainment robot. We improved the SDR-4X. In this paper we report about the sensor system of this robot which is important and essential for a small biped entertainment robot which can be used in the home environment. One technology is the design of a vision sensor system. The configuration and the distance image acquisition are explained. Another technology is the audio sensor system technology which obtains the sound and the voice information. The hardware system and the direction recognition are explained. Next technology is the inclination sensor system and the force sensor system which obtains the inclination of the trunk and the foot with force. These sensor systems are the key to make the biped robot walking and dynamic motion highly stable. The robot is used in normal home environment, so we should strongly consider the safety for humans. Lastly we explain the safety sensor system for humans.