Cream, Rouge and Shadow: Clear Hero Story mode.
NiGHTS, Billy Hatcher and Amigo: Clear all missions in Mission Mode.
Silver, Eggman, Blaze and SCR GP: Clear Babylon Story mode.
SCR HD: Beat him in Free Race when it appears.
Super Sonic: Achieve Extreme on all missions in Story Mode.
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yes you can unlock Cosmo in sonic riders zero gravity you cant get cosmo in sonic zero gravity riders for Nintendo wii. the characters you can get are sonic, tails, knuckles, jet, wave, storm, silver, blaze, knights, shadow, Amy, eggman, rouge, cream, billy hatcher, amigo, SCR-GP, and SCR-HD.
You beat heroes mode on story
Sonic riders zero gravity is good cause of the character selection was better and the graphics were awesome, but zero gravity kinda sucks since you can't boost like the original sonic riders. I technically think that the story plot was the best in Sonic Riders; it's the game itself and it's plot.
Shadow is unlocked by completing the Hero Story;Silver, complete Babylon Story.
Really Easy, you unlock SCR-HD in free race after you have beaten the Babylon storyYou unlock SCR-GP by beating the Babylon Story