An overview of speech production is described in which the goals of phonemic speech movements are implemented in auditory and somatosensory domains and the movements are controlled by a combination of feedback and feedforward mechanisms. Findings of motor-equivalent trading relations in producing /u/ and /r/, cross-speaker relations between vowel and consonant production and perception, and speakers’ use of a “saturation effect” in producing /s/ support the idea that the goals are in sensory domains. Results of production experiments in which auditory feedback was modified and interrupted provide insight into the nature of feedback and feedforward control mechanisms. The findings are all compatible with the DIVA model of speech motor planning, which makes it possible to quantify relations among phonemic specifications of utterances, brain activity, articulatory movements and the speech sound output.