著者

福井 孝太郎 草野 世大 高西 淳夫 誉田 雅彰

出版者

日本音声学会

雑誌

音声研究 (ISSN:13428675)

巻号頁・発行日

vol.14, no.2, pp.57-64, 2010-08-30

被引用文献数

1

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This paper describes a mechanical talking robot that resembles human speech production aparatus and its control mechanism. The talking robot, Waseda Talker, has mechanical replicas of the vocal folds, tongue, jaw and lips, and it is capable of producing vowel and consonant sounds in a human-mimetic manner. The source sounds are produced by airflow from the lungs to the glottis, and the resonance characteristics of the vocal tract are controlled by changing geometries of the articulators. Each component organ in the talking robot has many degrees of freedom and requires a high-level control design to realize continuous speech. A new control method based on articulatory motion data obtained from electromagnetic articulography (EMA) is presented together with experimental results from continuous speech synthesis using the most recent model of the robot.

著者

福井 孝太郎 新宅 英滋 下村 彰宏 榊原 菜々 石川 優馬 誉田 雅彰 高西 淳夫

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.26, no.7, pp.794-800, 2008-10-15

参考文献数

11

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We have developed a vocal control method based on forward and inverse model, and new vocal cord mechanism, for anthropomorphic talking robot, Waseda Talker No.7, to produce various kinds of voices. The previous artificial vocal cord model could reproduce human-like vibration, however, the control range of the acoustic parameters are very small. We developed new mechanism could adjust the vocal cords tension effectively and control the glottal opening-closing, to broaden the control range. The control parameters of the vocal cords on WT-7 are vocal cord tension, glottal opening and air pressure, and the acoustic parameters are sound pitch, spectrum tilt and sound pressure. The relations between these parameters are complicated, and hard to modeling. The learning process consists of learning of the NN forward model and learning of the inverse model by using the forward model. In addition, the real-time auditory feedback mechanism is used to reduce the error. By this method, the acoustic parameters could be followed well the target.

著者

山口 仁一 高西 淳夫 加藤 一郎

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.14, no.1, pp.67-74, 1996-01-15 (Released:2010-08-10)

参考文献数

16

被引用文献数

2

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As the first stage of biped walking adapting to an unknown uneven surface using an anthropomorphic biped walking robot, this paper introduces a special foot mechanism with shock absorbing material that stabilizes biped walking and acquires position information on the landing surface. The new foot has three functions: (1) a function to obtain information on the position relative to a landing surface; (2) a function to absorb the shock of the foot's landing; (3) a function to stabilize changes in the support leg. Two units of the foot mechanism were produced, a biped walking robot WL-12 RVI that had the foot mechanism installed inside it was developed, and a walking experiment with WL-12 RVI was performed. As a result, decreased vibration around the pitch axis, decreased torque demands on ankle actuators on the pitch axis, increased dynamic biped walking success probability, and acquired landing surface information was achieved.

著者

西川 員史 林 宏樹 桑江 俊治 棚橋 邦浩 信 英明 持田 岳美 誉田 雅彰 高西 淳夫

出版者

一般社団法人電子情報通信学会

雑誌

電子情報通信学会技術研究報告. SP, 音声 (ISSN:09135685)

巻号頁・発行日

vol.102, no.248, pp.17-22, 2002-07-19

参考文献数

10

被引用文献数

1

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本研究は,人間の発声運動を模擬した人間形発話ロボットを用いて,人間の発声メカニズムをロボット工学的な視点から明らかにすることを目的としている.著者らは人間に近い自然な発声を目指し,昨年までの問題点を改良した新型発話ロボットWT-2(Waseda Talker-No.2)を開発した。WT-2は肺,声帯,口腔及び鼻腔からなる全15自由度の制御機構を有し,声道長は約175mmと人間と同程度の大きさを持つ.昨年までに開発したWT-1,WT-1Rと比べ,より柔軟な舌形状変更機構と,唇・鼻孔以外からの音漏れ低減により,明瞭性の高い母音及び破裂子音,摩擦子音,鼻子音の生成を実現した.