Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software
<|reference_start|>Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software: 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.<|reference_end|>
@article{kawaharazuka2024toward,
    title={Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of
  Developed Hardware and Learning-Based Software},
    author={Kento Kawaharazuka and Kei Tsuzuki and Yuya Koga and Yusuke Omura and
  Tasuku Makabe and Koki Shinjo and Moritaka Onitsuka and Yuya Nagamatsu and
  Yuki Asano and Kei Okada and Koji Kawasaki and Masayuki Inaba},
    journal={arXiv preprint arXiv:2406.05573},
    year={2024},
    doi={10.1109/MRA.2020.2987805},
    archivePrefix={arXiv},
    eprint={2406.05573},
    primaryClass={cs.RO}
}