Development of an Anthropomorphic Talking Robot to Mechanically Produce Human Voices
This paper describes the mechanical design and the motion planning of the anthropomorphic talking robot WT-1R (Waseda Talker-No.1 Refined) for the production of human voices. In 2000, we mechanically produced Japanese vowels (/a/, /i/, /u/, /e/, /o/) using the first robot WT-1 (Waseda Talker-No.l). In 2001, we developed a second robot WT-1R, which is improvement over WT-l’s mechanisms for producing natural vowels and consonant sounds. WT-1R has articulators (the tongue, lips, teeth, nasal cavity and soft palate) and vocal organs (the lungs and vocal cords). The total DOF (degrees of freedom) is 15. Furthermore, we proposed the motion planning of WT-1R by considering the complicated phenomenon of the consonant sound as three parts (steady consonant sound, transient consonant sound and vowel). WT-1R could mechanically produce Japanese vowels (/a/, /i/, /u/, /e/, /o/) and some consonant sounds (/s/, /h/, /m/, /p/ and /waseda/).
KeywordsNasal Cavity Vocal Cord Motion Planning Soft Palate Vocal Tract
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