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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Automation, ICRA 2008
ページ3648-3653
ページ数6
DOI
出版ステータスPublished - 2008 9 18
イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
継続期間: 2008 5 192008 5 23

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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