In pictures: Royals visit Japan

Charles and Camilla's visit to Japan is timed to celebrate 150 years of diplomatic relations between the country and Britain. They will travel to Brunei next, before the prince goes on to Indonesia alone.

The royal couple were greeted by children waving union jacks when they arrived at Tokyo's National Museum Of Emerging Science And Innovation.

Once inside, they met Honda's humanoid robot, Asimo. The robot greeted a bemused-looking prince, saying: "Konnichi-wa" - good afternoon - before breaking into a dance routine.

Prince Charles was also shown around the university's Space Habitation Module - a mock-up of the international space station.

Later, he gave a keynote speech warning against the danger of ignoring the "climate crunch". He said the world needed to move quickly towards a low carbon economy.

Charles and Camilla also spent time at Tokyo's Keio University where they met students in traditional dress.

The couple were treated to a traditional kendo performance and got a close-up look at one of the fighter's bamboo swords.

In the evening, Charles and Camilla were guests of honour at a private dinner at the Imperial Palace, hosted by Japan's Emperor Akihito and Empress Michiko.