[PS1] Obscure Japanese game

There are four playable characters at the start with an unlockable one I believe. They were a knight, a barbarian/dude with a club, a fairy/sorceress and a giant parrot. The characters look chibi like Metaknight.

The story involves a king calling the four of them to rescue his daughter who was kidnapped by flying imps.

Gameplay is on a semi-maze like grid where you can rotate the paths you are on and the 4 adjacent ones. It was 3d. There were big bosses at the end of each world.