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Development of a New Human-like Talking Robot Having Advanced Vocal Tract Mechanisms

ABSTRACT

This paper describes the development of a new talking robot WT-2 that improved on WT-1R and has advanced vocal tract
mechanisms for the reproduction of human vocal movement. WT-2 consists lungs, vocal cords, a vocal cavity and nasal cavity;
the total DOF is 15. The length of the vocal tract is about 175 mm and is almost the same as that of an adult male. Compared
to WT-1 or WT-1R developed previously, WT-2 could utter Japanese vowels more clearly, and produce stops, fricatives and
nasal sounds by a new flexible tongue mechanism as well as decrease sound leaks from the tongue except those from the lips
or nostrils.

A talking and singing robot that has mechanical organs equivalent to the human vocal system is being developed based on a mechatronics technology under the control of regeneration. While various forms of vocal sound production have been actively studied so far, it is considered that a mechanical construction of the vocal system advantageously realizes natural vocalization with its fluid dynamics. The motors are used for the manipulation of the mechanical system. The robot adaptively learns the relationships between the motor control parameters and the generated vocal sounds using an auditory feedback learning with neural networks and sings a song imitating a human vocalization. This article presents the construction of the talking robot and its sung interpretation, along with the adaptive control for the learning of tone and phoneme. The robot generates vocal sounds and consonants of different tones dynamically controlling the vocal cords, vocal tract and nasal cavity.

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