The role of robots has evolved with recent technological innovations and social challenges, such as declining workforce. Robots are no longer confined to the industrial field but are becoming an integral part of daily lives. Consequently, their optional environment has shifted from factories to human living space. As the presence of robots in these environments continues to grow, human-robot interaction has emerged as a critical issue that requires further exploration. Robotics competitions serve as a platform for testing solutions to these challenges, with many events focused on advancing robot integration into society. However, a competition specifically designed for human-robot coexistence has not yet been proposed. This study aims to present a vision for a future society where humans and robots coexist. To facilitate discussions on this concept, we organized a robotics competition in which humans, animals, and robots can participate. Accordingly, we designed a robotics competition incorporating humans, animals, and robots based on a relay race, known as Ekiden. Furthermore, we outlined the design principles of the competition, described its rules and results, and evaluated the validity of these rules.

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