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Here are how to get the hidden characters.
To unlock Kouga, complete the Story Mode as Inu Yasha. Alternately, complete the Story Mode as Kagome.
To unlock Kagura, complete the Story Mode as Kouga.
To unlock Miroku, complete the Story Mode as Shippou. Alternately, complete the Story Mode as Kagome.
To unlock Sango, complete the Story Mode as Miroku.
To unlock Shippou, complete the Story Mode as Sango.
Alternately, complete the Story Mode as Inu Yasha.
To unlock Kikyou, complete the Story Mode as Shippou.
To unlock Sesshoumaru, complete the Story Mode as Kagura.
To unlock Naraku, complete the Story Mode as Sesshoumaru.
To unlock Toutosai, finish all 3 games in Kagome's backpack (which you can unlock by completing the Story Mode 2 times) with Perfect Score.
To unlock Evil Inu Yasha, complete the Story Mode by collecting at least 43 Shikon no Tama jewels. Alternately, complete the Story Mode with all characters except Naraku (which I think you can't play in this mode).
Hint: To increase your chance of unlocking hidden characters, collect the Shikon no Tama jewels.