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Development of a human-like sensory feedback mechanism for an anthropomorphic talking robot

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5 Author(s)
K. Fukui ; Dept. of Mech. Eng., Waseda Univ., Tokyo ; K. Nishikawa ; S. Ikeo ; M. Honda
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We developed a sensor feedback mechanism for an anthropomorphic talking robot WT-5 (Waseda Talker No. 5). In human speech, sensory feedback is more important when we producing obstacle consonant sounds, such as /t/ and /d/, compared to the auditory feedback mechanism. We reproduce this mechanism by placing tactile sensors and a pressure sensor on the palate of a talking robot and reducing the error between the pressure of the human voice and the robot consonant production. In addition, we developed more efficient optimization methods than those of WT-4, using speech recognition and the pre-optimized memory of vowels. Using these mechanisms, we realized continuous mimic speaking that includes consonant sounds

Published in:

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

Date of Conference:

15-19 May 2006