Anthropomorphic talking robot based on human biomechanical structure

Kotaro Fukui, Yuma Ishikawa, Eiji Shintaku, Masaaki Honda, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We developed an anthropomorphic talking robot, Waseda Talker No. 6 (WT-6), which generates speech sounds by mechanically simulating articulatory motions and aero-acoustic phenomena. WT-6 possesses 17 degrees of freedom (DOF): a 5-DOF tongue, 1-DOF jaws, 4-DOF lips, a nasal cavity, and a 1-DOF soft palate as articulators; and 5-DOF vocal cords and 1-DOF lungs as vocal organs. The vocal cords, tongue, and lips are made from the thermoplastic rubber Septon, whose elasticity is similar to that of human tissue. WT-6 has three-dimensional (3D) lips, tongue, jaw, and velum, which form the vocal tract structure. It also has an independent jaw opening/closing mechanism. The previous robot in the series had a two-dimensional tongue and could not produce human-like tongue shape. The new tongue can form 3D shapes, and thus, is able to produce more realistic vocal tract shapes. The vocal cord model consists of two folds, and is constructed with a structure similar to the biomechanical structure of human vocal cords. These vocal cords can vibrate in complex phases, similar to those of a human. With these mechanisms, the robot can reproduce human speech in a more biomechanical manner, and thus, can produce a voice closer to that of a human.

Original languageEnglish
Title of host publicationCIMTEC 2008 - Proceedings of the 3rd International Conference on Smart Materials, Structures and Systems - Mining Smartness from Nature
PublisherTrans Tech Publications Ltd
Pages153-158
Number of pages6
ISBN (Print)9783908158158
DOIs
Publication statusPublished - 2008 Jan 1
Event3rd International Conference on Smart Materials, Structures and Systems - Mining Smartness from Nature, CIMTEC 2008 - Acireale, Sicily, Italy
Duration: 2008 Jun 82008 Jun 13

Publication series

NameCIMTEC 2008 - Proceedings of the 3rd International Conference on Smart Materials, Structures and Systems - Mining Smartness from Nature
Volume58

Conference

Conference3rd International Conference on Smart Materials, Structures and Systems - Mining Smartness from Nature, CIMTEC 2008
CountryItaly
CityAcireale, Sicily
Period08/6/808/6/13

Keywords

  • Human vocal cords
  • Humanoid robot
  • Speech production

ASJC Scopus subject areas

  • Mechanics of Materials
  • Materials Science(all)

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  • Cite this

    Fukui, K., Ishikawa, Y., Shintaku, E., Honda, M., & Takanishi, A. (2008). Anthropomorphic talking robot based on human biomechanical structure. In CIMTEC 2008 - Proceedings of the 3rd International Conference on Smart Materials, Structures and Systems - Mining Smartness from Nature (pp. 153-158). (CIMTEC 2008 - Proceedings of the 3rd International Conference on Smart Materials, Structures and Systems - Mining Smartness from Nature; Vol. 58). Trans Tech Publications Ltd. https://doi.org/10.4028/www.scientific.net/AST.58.153