TY - GEN
T1 - Voice quality manipulation for humanoid robots consistent with their head movements
AU - Otsuka, Takuma
AU - Nakadai, Kazuhiro
AU - Takahashi, Toru
AU - Komatani, Kazunori
AU - Ogata, Tetsuya
AU - Okuno, Hiroshi G.
PY - 2009
Y1 - 2009
N2 - This paper presents voice-quality control of humanoid robots based on a new model of spectral envelope modification corresponding to the vertical head motions, and left-right sound-pressure modulation corresponding to the horizontal head motions. We assume that a pitch-axis rotation, or a vertical head motion, and a yaw-axis rotation, or a horizontal head motion, affect the voice quality independently. Spectral envelope modification model is constructed based on the analysis of human vocalizations. Left-right sound-pressure modulation model is established through the measurements of impulse responses using a pair of microphones. The experiments are carried out using two humanoid robots HRP-2 and Robovie-R2. Experimental results show that our method presents the change in the voice quality derived from pitch-axis head movement in a robot-to-robot dialogue situation when the interval between the robots are 50 cm. It is also confirmed that an observable modulation in the voice quality declines as the distance between the robots becomes large. The voice-cast directionality caused by yaw-axis rotation is observable using our model even when the robots stand as far as 150 cm away.
AB - This paper presents voice-quality control of humanoid robots based on a new model of spectral envelope modification corresponding to the vertical head motions, and left-right sound-pressure modulation corresponding to the horizontal head motions. We assume that a pitch-axis rotation, or a vertical head motion, and a yaw-axis rotation, or a horizontal head motion, affect the voice quality independently. Spectral envelope modification model is constructed based on the analysis of human vocalizations. Left-right sound-pressure modulation model is established through the measurements of impulse responses using a pair of microphones. The experiments are carried out using two humanoid robots HRP-2 and Robovie-R2. Experimental results show that our method presents the change in the voice quality derived from pitch-axis head movement in a robot-to-robot dialogue situation when the interval between the robots are 50 cm. It is also confirmed that an observable modulation in the voice quality declines as the distance between the robots becomes large. The voice-cast directionality caused by yaw-axis rotation is observable using our model even when the robots stand as far as 150 cm away.
UR - http://www.scopus.com/inward/record.url?scp=77950552701&partnerID=8YFLogxK
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U2 - 10.1109/ICHR.2009.5379569
DO - 10.1109/ICHR.2009.5379569
M3 - Conference contribution
AN - SCOPUS:77950552701
SN - 9781424445882
T3 - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
SP - 405
EP - 410
BT - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
T2 - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
Y2 - 7 December 2009 through 10 December 2009
ER -