In this paper, we propose voice conversion (VC) based on articulatory features (AF) to vocal-tract parameters (VTP) mapping. An artificial neural network (ANN) is applied to map AF to VTP and to convert a speaker's voice to a target-speaker's voice. The proposed system is not only text-independent VC, in which it does not need parallel utterances between source and target-speakers, but can also be used for an arbitrary source-speaker. This means that our approach does not require source-speaker data to build the VC model. We are also focusing on a small number of target-speaker training data. For comparison, a baseline system based on Gaussian mixture model (GMM) approach is conducted. The experimental results for a small number of training data show that the converted voice of our approach is intelligible and has speaker individuality of the target-speaker.