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| | Waseda Talker - Talking Robot |
 | | WT-3 consists of 1-DOF lungs and 3-DOF vocal cords and articulators (the 7-DOF tongue, 5-DOF lips, 1-DOF teeth, nasal cavity and 1-DOF soft palate), and could reproduce human-like articulatory motion; the total DOF was 18. |
 | | WT-4 had a human-like body to make the communication with a human more easily, and consisted of the total DOF was 19. |
 | | WT-5 consisted of 1-DOF lungs, 3DOFs vocal cords and articulators (the 7-DOFs tongue, 5-DOFs lips, 1-DOF teeth, nasal cavity and 1-DOF soft palate), and could reproduce human-like articulatory motion; the total DOF was 18. |
| www.takanishi.mech.waseda.ac.jp /research/voice (699 words) |
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