仿人头像机器人“H&Frobot-Ⅲ”语音及口形系统研制与实验

Development and experimentation on speech sounds and degree of lip rounding system for "H&Frobot-III" humanoid head portrait robot

为进一步研究仿人头部器官及面部表情的行为智能,以及机器人与人类交流问题,首次将口形及其与语音协调问题引入到表情机器人系统,并进行研究。在已研制成功的具有面部表情及视觉仿人头像机器人系统"H&Frobot-II"基础上,根据人面部运动肌肉解剖学及Ekm an面部表情编码系统FACS,论述了口部动作驱动点设置、口形驱动机构及控制方法,设计、研制了语音及口形系统;最后给出了机器人"H&Frobot-III"的语音识别与口形协调实验结果,其口形与人讲同样话时口形能够很好地吻合,验证了语音与口形系统的可行性,从而为进一步研究机器人表情智能奠定了技术基础。

For the further study on the problems of behavior intelligence of apery organs of head and of facial expressions and of the communication of robot with mankind, the problems of introducing for the first time the degree of lip rounding and its speech harmonization into the expression robot system, and the researches were carried through. On the basis of robot system ＂H＆Frobot-Ⅱ＂, which possesses facial expression and visual humanoid head portrait that has already been successfully developed, and in accordance with the muscle anatomy of human facial movements and with the coding system FACS of Ekmen facial expression, the setting up of driving points of lip movements and the degree of lip rounding driving mechanism and its controlling method were discussed. The speech and degree of lip rounding system were designed and developed. Finally the harmonization experimental results of speech recognition and degree of lip rounding for robot ＂H＆Frobot-Ⅲ＂ were presented. Its degree of lip rounding could tally nicely with the degree of lip rounding for persons that spoke the same saying. The feasibility of the speech and degreeof lip rounding system was testified, thus laid a technological foundation for the further study on the expression intelligence of robots.