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AbstractThis paper presents voice-awareness control consistent with robot's head movements. For a natural spoken communication between robots and humans, robots must behave and speak the way humans expect them to. The consistency between the robot's voice quality and its body motion is one of the most especially striking factors in naturalness of robot speech. Our control is based on a new model of spectral envelope modification for vertical head motion, and left-right balance modulation fordoi:10.2478/s13230-010-0009-x fatcat:ehs4ogjghvelnm22urxwvrvdoq