{"id":"https://openalex.org/W2128113485","doi":"https://doi.org/10.1109/robot.2002.1014807","title":"Speech planning of an anthropomorphic talking robot for consonant sounds production","display_name":"Speech planning of an anthropomorphic talking robot for consonant sounds production","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2128113485","doi":"https://doi.org/10.1109/robot.2002.1014807","mag":"2128113485"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059234729","display_name":"K. Nishikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"K. Nishikawa","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067898598","display_name":"Akihiro Imai","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Imai","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113782595","display_name":"T. Ogawara","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Ogawara","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057019997","display_name":"Hideaki TAKANOBU","orcid":"https://orcid.org/0000-0002-3736-4962"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I116465919","display_name":"Kogakuin University","ror":"https://ror.org/01wc2tq75","country_code":"JP","type":"education","lineage":["https://openalex.org/I116465919"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Takanobu","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Kogakuin University, Shinjuku, Tokyo, Japan","Humanoid Robotics Institute, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Kogakuin University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I116465919"]},{"raw_affiliation_string":"Humanoid Robotics Institute, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028554169","display_name":"Takemi Mochida","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105847","display_name":"NTT Basic Research Laboratories","ror":"https://ror.org/01m2pas06","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210105847"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Mochida","raw_affiliation_strings":["Human and Information Science Laboratory, NTT Communication Science Laboratories, Atsugi, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Human and Information Science Laboratory, NTT Communication Science Laboratories, Atsugi, Kanagawa, Japan","institution_ids":["https://openalex.org/I4210105847"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Takanishi","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5059234729"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":6.4756,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.96156763,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1830","last_page":"1835"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9686999917030334,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9686999917030334,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9675999879837036,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/consonant","display_name":"Consonant","score":0.78974848985672},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.6956557035446167},{"id":"https://openalex.org/keywords/vowel","display_name":"Vowel","score":0.6805732846260071},{"id":"https://openalex.org/keywords/speech-production","display_name":"Speech production","score":0.5885565876960754},{"id":"https://openalex.org/keywords/voice","display_name":"Voice","score":0.5702250003814697},{"id":"https://openalex.org/keywords/formant","display_name":"Formant","score":0.5336936712265015},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.5336345434188843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.515640139579773},{"id":"https://openalex.org/keywords/stop-consonant","display_name":"Stop consonant","score":0.4125324785709381},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12325295805931091}],"concepts":[{"id":"https://openalex.org/C2778203577","wikidata":"https://www.wikidata.org/wiki/Q38035","display_name":"Consonant","level":3,"score":0.78974848985672},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.6956557035446167},{"id":"https://openalex.org/C2779581591","wikidata":"https://www.wikidata.org/wiki/Q36244","display_name":"Vowel","level":2,"score":0.6805732846260071},{"id":"https://openalex.org/C43617652","wikidata":"https://www.wikidata.org/wiki/Q7575399","display_name":"Speech production","level":2,"score":0.5885565876960754},{"id":"https://openalex.org/C552089266","wikidata":"https://www.wikidata.org/wiki/Q494510","display_name":"Voice","level":2,"score":0.5702250003814697},{"id":"https://openalex.org/C158215666","wikidata":"https://www.wikidata.org/wiki/Q1414685","display_name":"Formant","level":3,"score":0.5336936712265015},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.5336345434188843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.515640139579773},{"id":"https://openalex.org/C2776893716","wikidata":"https://www.wikidata.org/wiki/Q51597","display_name":"Stop consonant","level":4,"score":0.4125324785709381},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12325295805931091}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320307758","display_name":"Eli Lilly and Company","ror":"https://ror.org/01qat3289"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1536990986","https://openalex.org/W2097997206","https://openalex.org/W2279015681","https://openalex.org/W2334129531","https://openalex.org/W6675121470","https://openalex.org/W6694866754"],"related_works":["https://openalex.org/W123186199","https://openalex.org/W2740766505","https://openalex.org/W2041863257","https://openalex.org/W2037728892","https://openalex.org/W2008772709","https://openalex.org/W2053274757","https://openalex.org/W2088565884","https://openalex.org/W2090946681","https://openalex.org/W1595232633","https://openalex.org/W2991402433"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,7,16,74,81,92,98,104,108,113,122,127,132,139,142],"speech":[4,133],"planning":[5,134],"of":[6,18,51,58,107,118,121,135,141],"anthropomorphic":[8],"talking":[9,94],"robot":[10,76,95],"WT-1R":[11,21,59,136,155],"(Waseda":[12],"Talker-No.1":[13],"Refined)":[14],"for":[15,60,84],"production":[17],"consonant":[19,85,109,124,148,151,167],"sounds.":[20,110],"has":[22],"articulators":[23],"(the":[24,36],"tongue,":[25],"lips,":[26],"teeth,":[27],"nasal":[28],"cavity":[29],"and":[30,33,38,41,100,126,153,165,173],"soft":[31],"palate)":[32],"vocal":[34,39,45,56,82],"organs":[35],"lungs":[37],"cords),":[40],"can":[42],"reproduce":[43,103],"human":[44],"movement.":[46],"Its":[47],"total":[48],"DOF":[49],"(degrees":[50],"freedom)":[52],"is":[53,62,87],"15.":[54],"The":[55],"movement":[57,83],"vowels":[61,67,159],"steady.":[63],"We":[64,89],"produced":[65],"Japanese":[66,114,158],"(/a/,":[68,160],"/i/,":[69,161],"/u/,":[70,162],"/e/,":[71,163],"/o/)":[72,164],"using":[73],"first":[75,123],"WT-1":[77],"in":[78,97],"2000.":[79],"However,":[80],"sounds":[86,168],"transient.":[88],"must":[90],"control":[91],"15-DOF":[93],"coordinately":[96],"space":[99],"time":[101],"to":[102],"complicated":[105],"phenomena":[106],"Therefore,":[111],"because":[112],"voice":[115,143],"generally":[116],"consists":[117],"two":[119],"phonemes":[120],"sound":[125,152],"last":[128],"vowel,":[129],"we":[130],"proposed":[131],"by":[137],"considering":[138],"phenomenon":[140],"as":[144],"three":[145],"parts":[146],"(steady":[147],"sound,":[149],"transient":[150],"vowel).":[154],"could":[156],"produce":[157],"some":[166],"(/s/,":[169],"/h/,":[170],"/m/,":[171],"/p/":[172],"/waseda/).":[174]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}