Major Characters
- Hari Seldon, leader of the Psychohistorical movement which creates the Foundation and the Seldon Plan; first First Speaker of the Second Foundation (traditional), First Minister of the Galactic Empire under Cleon I, after Eto Demerzel
- R. Giskard Reventlov, the first robot able to alter human minds (of the 'diaspora' era, see I, Robot story "Liar!")
- R. Daneel Olivaw, a humanoid robot who organizes the creation of both the Seldon Plan and Gaia and Galaxia. He also assumes the names Chetter Hummin and Eto Demerzel (First Minister)
- The Mule (originally from Gaia), a mutant who was extremely adept at altering human's emotions.
- Dors Venabili, Seldon's wife and protector, known as the "Tiger Woman" for her physical prowess and swiftness to action. She is eventually revealed to be a humanoid robot like Daneel
- Yugo Amaryl, Seldon's colleague, a heatsinker from the Dahl Sector of Trantor
- Emperor Cleon I, Entun Dynasty, Emperor during the first part of Hari Seldon's stay on Trantor
- Salvor Hardin, first Mayor of Terminus, first Foundationer to realize the 'farce' of the Encyclopedia Galactica
- Gaal Dornick, one of the last Psychohistorians to join the Project
- Hober Mallow, a "Merchant Prince" during the Foundation's 'Trader' days
- Bel Riose, General of the Galactic Empire
- Golan Trevize, Councilman of Terminus who discovers the secret location of Earth
- Janov Pelorat, Historian, accompanies Trevize
- Arkady Darell, granddaughter of Bayta Darell who theorizes a location of the Second Foundation
- Blissenobiarella (Bliss), a human element of the superorganism Gaia
- Bayta Darell, grandmother of Arkady Darell; Bayta was instrumental in the defeat of the Mule
- Raych Seldon, Hari Seldon's adopted son from the Dahl Sector of Trantor
- Wanda Seldon, Raych Seldon's eldest daughter who later becomes a Psychohistorian and second First Speaker of the Second Foundation
- Preem Palver, a very successful First Speaker of the Second Foundation
- Ebling Mis, thought to be first person to discover the location of the Second Foundation
Read more about this topic: Foundation Series
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