Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software

TL;DR

This paper explores the use of a musculoskeletal humanoid robot, Musashi, equipped with advanced hardware and learning-based software, to perform autonomous driving tasks such as pedal operation and steering recognition.

Contribution

It demonstrates the integration of detailed musculoskeletal humanoid hardware with learning-based software for autonomous driving functions.

Findings

Successful pedal and steering operations by Musashi

Recognition capabilities for driving tasks

Effective use of hardware and software integration

Abstract

This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a flexible body structure. These characteristics are suitable for motions with complex environmental contact, and the robot is expected to sit down on the car seat, step on the acceleration and brake pedals, and operate the steering wheel by both arms. We reconsider the developed hardware and software of the musculoskeletal humanoid Musashi in the context of autonomous driving. The respective components of autonomous driving are conducted using the benefits of the hardware and software. Finally, Musashi succeeded in the pedal and steering wheel operations with recognition.