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Erschienen in:
2018 | OriginalPaper | Buchkapitel
5. Formant-Based Lip Motion Generation and Evaluation in Humanoid Robots
verfasst von : Carlos T. Ishi, Chaoran Liu, Hiroshi Ishiguro, Norihiro Hagita
Erschienen in: Geminoid Studies
Verlag: Springer Singapore
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Abstract
Generating natural motion in robots is important for improving human–robot interaction. We have developed a teleoperation system in which the lip motion of a remote humanoid robot is automatically controlled by the operator’s voice. In the present work, we introduce an improved version of our proposed speech-driven lip motion generation method, where lip height and width degrees are estimated based on vowel formant information. The method requires the calibration of only one parameter for speaker normalization. Lip height control is evaluated in two types of humanoid robots (Telenoid-R2 and Geminoid-F). Subjective evaluations indicate that the proposed audio-based method can generate lip motion with superior naturalness to vision-based and motion capture-based approaches. Partial lip width control is shown to improve lip motion naturalness in Geminoid-F, which also has an actuator for stretching the lip corners. Issues regarding online real-time processing are also discussed.