Calypso could be characterized by two words. She is both selfish for keeping Odysseus to herself without letting him go (as he wished all along), but she also shows signs of being compassionate. In the following quote, Calypso does not want him to leave. She's telling him about the dangers ahead. She was willing to give him immortality, which was never taken lightly. "Good luck go with you, but if you could only know how much suffering is in store for you before you get back to your own country, you would stay where you are, keep house along with me, and let me make you immortal."
Poseidon could be characterized as vengeful and stubborn. Odysseus pays for his crime for 8 or 9 years. Poseidon says this as he's about to change the Phaecian's boat to stone. "I should like to wreck the Phaecian ship as it is returning from its escort.This will stop them from escorting people in future; and I should also like to bury their city under a huge mountain."
Penelope is very wise and faithful. She does not end up with a suitor and she tests Odysseus in the end to make sure it's him. "Euryclea, take his bed outside the bed chamber that he himself built," she says, knowing it can't be moved.
Telemachus is naive in the beginning. He is respectful to his father in the end. "For they say you are the wisest counsellor in the world, and that there is no other mortal man who can compare with you."