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.

翻译：本文总结了一项由肌肉骨骼类人机器人实现的自动驾驶项目。肌肉骨骼类人机器人详细模仿了人体结构，具备冗余的传感器和灵活的身体构造。这些特性使其适合执行涉及复杂环境接触的运动，有望实现坐入汽车座椅、踩踏油门与刹车踏板以及用双臂操作方向盘等动作。我们在自动驾驶的背景下，重新审视了已开发的肌肉骨骼类人机器人Musashi的硬件与软件。利用该硬件和软件的优势，分别实现了自动驾驶的各个组成部分。最终，Musashi成功完成了带有环境识别的踏板与方向盘操作。