A Biomimetic Vocalisation System for MiRo

  • Roger K. MooreEmail author
  • Ben Mitchinson
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10384)


There is increasing interest in the use of animal-like robots in applications such as companionship and pet therapy. However, in the majority of cases it is only the robot’s physical appearance that mimics a given animal. In contrast, MiRo is the first commercial biomimetic robot to be based on a hardware and software architecture that is modelled on the biological brain. This paper describes how MiRo’s vocalisation system was designed, not using pre-recorded animal sounds, but based on the implementation of a real-time parametric general-purpose mammalian vocal synthesiser tailored to the specific physical characteristics of the robot. The novel outcome has been the creation of an ‘appropriate’ voice for MiRo that is perfectly aligned to the physical and behavioural affordances of the robot, thereby avoiding the ‘uncanny valley’ effect and contributing strongly to the effectiveness of MiRo as an interactive device.


Biomimetic robot MiRo Mammalian vocalisation Vocal synthesis 



This work was partially supported by the European Commission [grant numbers EU-FP6-507422, EU-FP6-034434, EU-FP7-231868 and EU-FP7-611971], and the UK Engineering and Physical Sciences Research Council (EPSRC) [grant number EP/I013512/1].


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Department of Computer ScienceUniversity of SheffieldSheffieldUK
  2. 2.Department of PsychologyUniversity of SheffieldSheffieldUK

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