Control methods based on neural network forward and inverse models for a biomechanical structured vocal cord model on an anthropomorphic talking robot

Kotaro Fukui, Eiji Shintaku, Akihiro Shimomura, Nana Sakakibara, Yuma Ishikawa, Masaaki Honda, Atsuo Takanishi

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

1 Citation (Scopus)

Abstract

We have developed a vocal control method, based on forward and inverse models, to allow the anthropomorphic talking robot Waseda Talker No. 7 (WT-7) to produce various kinds of voices. The control parameters of the vocal cords on WT-7 are pressure, vocal cord tension and glottal opening, and the acoustic parameters are sound pressure, sound pitch and spectrum slope. The relationships among these parameters are complicated and difficult to model using conventional methods. Here we present a neural network (NN) control method. The learning process consists of creation of the NN forward model by back propagation methods and optimization of the inverse model using the forward model. In addition, a real-time auditory feed-back mechanism is used to reduce the error between the target and the generated acoustic parameters. Using this method, the control parameters can be adjusted to follow the target voice well.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages3648-3653
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 18
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Fukui, K., Shintaku, E., Shimomura, A., Sakakibara, N., Ishikawa, Y., Honda, M., & Takanishi, A. (2008). Control methods based on neural network forward and inverse models for a biomechanical structured vocal cord model on an anthropomorphic talking robot. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 3648-3653). [4543770] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543770