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Son Goku - A powerful fighter with a heart of gold. He came within a hair's breath of winning the first Tenkaichi Budokai he entered. It has since been revealed he is of an alien warrior race known as the Saiyans. He certainly seems to peaceful for that. He will, however, defend to the death his friends and his food. Indeed, he was killed in a battle with his Saiyan brother, Raditz.
Piccolo - Fierce warrior from the planet Namek. When he came to Earth, he had in his heart the desire to conquer and become Piccolo, the Demon King. To this end he used his great focus to split apart all the good from his body, which took the form of Kami (see below). His plans were foiled by his only rival, Goku, for whom he has since developed a feeling of respect, if not friendship. Since Goku's death, Piccolo has vowed to train young Gohan to become a great warrior for the impending battle with the Saiyans.
Manix - Not much is known about Manix, though he seems a determined fighter. Kami often looks at him with a knowing smile, however...
Shan-kuel - Shan has come a long way from getting into street fights in the back alleys of East City. He's not so sure about this 'defenders of the Earth' stuff, but it does give him the chance to trade punches. He has advanced attacks and well-developed energy use, but a quick temper and lack of concentration often prove troublesome. Thus far he has taken a beating but come back for more, just a little angrier.
Krillin - Though he has trained in the martial arts all his life, Krillin has never quite been the equal of Goku, with whom he trained all during their childhoods under Master Roshi. Which is not at all to say Krillin is not strong. Many opponents underestimate him because of his diminutive stature, only to be knocked aside a moment later. He has a well-placed feeling of nervousness around Piccolo. Unfortunately, Krillin was killed in battle with Spice, one of Garlic Jr.'s henchmen.
Son Gohan - The son of Goku and Chichi, this child is half-Saiyan, half-human; an oddity which has never occured before. Gohan is shy, but is possessed by a great energy when someone he cares about is slighted in front of him.
Tienshin - A warrior monk from the mountains, Tien possesses great ability in ahnd-to-hand fighting and energy manipulation. He has achieved inner balance, as is outwardly evident by way of the third eye in the middle of his forehead.
Yamcha - Formerly a nomadic fighter, the Z Warriors have given him purpose. He is scarred from years of battles in the wilds, where he would wrestle bears to test his strength, and race cheetahs to develop speed. Many of his attacks are patterned after these animals, and it is no surprise that he has developed a new animal style of kung fu, called Wolf Fang Fist, which he uses to ruthless effect in battle.
Yajirobe - The greatest swordsman on the planet happens to be a rotund, lazy fellow with a shortage of courage. Though his energy powers may be lacking, his blade is razor sharp, and he has never lost a battle.
Raditz - A Saiyan who came to Earth in order to check on Kakarot's progress destroying the place. Instead, he found that Goku was a good guy, and didn't know he was a Saiyan at all! After he kidnapped Goku's son as a bit of negotiation leverage, Goku, Piccolo, and Manix were forced to kill him. The final attack was of such power, it killed Goku, as well, and severely injured Manix.
Sarenbo and Caz - Two violent thugs who decided to wreak havoc in the wrong place. Though they possessed some rather unique powers, Manix and Shan defeated them.
Lord Pilaf and the Kirudo Clan (Ginseng, Ginger, Unagi, Tarro, Poi) - A group of demonic schemers, possessing a surprising amount of strength. After a lengthy battle in the desert, Pilaf, Ginger, and Poi escaped.
Garlic Jr. and Spice Boys (Sugar, Spice, Paprika, Cayenne) - The demented demon Garlic Jr. sought revenge by opening a portal into a null dimension known as the Dead Zone. Though his impressive powers were able to defeat Krillin, beat Shan into a bloody pulp, and instantly regenerate after a Destructo Disc attack, the young Gohan's anger proved capable of beating this monster  in the nick of time by throwing him into his own portal. The Spice Boys were defeated as well.
Professor Briefs - Wacky animal lover and inventor of the revolutionary capsule technology. He is a billionaire many times over, with a young, attractive wife.
Bulma - The brilliant but ditzy daughter of Professor Briefs, she is the sole heir to the Capsule Corp. business. She is an amazing inventor in her own right, taking after her father.
Master Roshi - A great and aging martial arts master known as the Turtle Hermit. Unorthodox training methods (which often incorporate his pet, Tortoise) aside, Roshi is a wily fighter with strong moves which he has incorporated into his own fighting style, kame sennin do, which he taught to Goku and Krillin. He created the powerful kamehameha technique, though several Z Warriors have since been able to master it as well. He's also a dirty old man with a stack of girly magazines that takes up his whole closet.
Mr. Moto - An old friendly rival of Master Roshi. Mr. Moto is a fan of training under extreme circumstances, and rigged up his spacious mansion with numerous booby traps for use in training. He kept a large bronze golem, Brong, which went haywire when Mr. Moto's heart failed while teaching Manix a secret, ancient technique, the Combinatto of the Two Fightels. Moto could never speak very well. Manix subsequently smashed Brong into a big lump.
Chichi & Ox King - A lovely daughter and fearsome warrior, respectively. Chichi is Goku's wife, and the Ox King was once a humongous martial arts champion. Now he's just humongous, with a kind, humongous heart. Aww. That's not healthy.
Corin - A humanoid white cat who lives in Corin's Tower, a staggeringly high structure that stands for balance in the world. Corin is something of a sage, and often possesses obscure but important knowledge. He is the only being capable of growing the fabled senzu beans, which possess legendary healing properties.
Kami and Mr. Popo - Kami is an elderly Namek, the guardian of this planet. Mr. Popo is...his....assistant and friend, atop Kami's Lookout. Kami keeps watch for threats to the world and its people, as well as keeping the Hyperbolic Time Chamber.