Abstract
This article 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 with 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, we show that Musashi succeeded in the pedal and steering wheel operations with recognition.
Highlights
As a means of safe and comfortable transportation, various research studies in autonomous driving are in progress [1], [2]
Because the humanoid robot lacks body flexibility and deviates from human body proportions, in the DARPA Robotics Challenge (DRC), a steering wheel was operated by one arm and a special jig was required for sitting down on the seat
We introduce our project of autonomous driving by musculoskeletal humanoids (Figure 1)
Summary
By Kento Kawaharazuka, Kei Tsuzuki, Yuya Koga, Yusuke Omura, Tasuku Makabe, Koki Shinjo, Moritaka Onitsuka, Yuya Nagamatsu, Yuki Asano, Kei Okada, Koji Kawasaki, and Masayuki Inaba. This article 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 with both arms. USE IS PERMITTED, BUT REPUBLICATION/REDISTRIBUTION REQUIRES IEEE PERMISSION. Hardware and software of the musculoskeletal humanoid Musashi in the context of autonomous driving. The res pective components of autonomous driving are conducted using the benefits of the hardware and software. We show that Musashi succeeded in the pedal and steering wheel operations with recognition
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