The Musashi robot developed by the University of Tokyo successfully achieved the feat of driving a small electric car, bringing new breakthroughs to the field of autonomous driving. With its unique musculoskeletal humanoid structure, Musashi combines advanced visual perception and fine operation capabilities to recognize traffic signals, pedestrians and vehicles, and make corresponding driving decisions. It uses manipulators to operate the vehicle and controls the accelerator and brakes through bionic "feet", demonstrating a high degree of anthropomorphic operation. However, Musashi still has some limitations, such as slow turning speed and unstable acceleration control, which require further optimization and improvement.
The main features include visual perception (simulating the human eye), driving operation (robot hands and bionic feet), and compliance with traffic rules (learning-based recognition module). Musashi’s working principle is based on hardware design that mimics human musculoskeletal structure and combines a variety of learning-based software systems. Its workflow includes environment perception, decision-making and planning, execution control, and feedback and adjustment. The article also shows Musashi's application examples, experimental conclusions, and directions for future work, and provides relevant paper addresses to provide a reference for further research. The research and development of Musashi is an important milestone in the development of autonomous driving technology, and its future development is worth looking forward to.
Although Musashi currently has some shortcomings, its potential in the field of autonomous driving cannot be ignored. In the future, through further integration and optimization of software and hardware systems, as well as the conduct of outdoor experiments, Musashi is expected to overcome existing shortcomings, achieve more significant breakthroughs in the field of autonomous driving, and bring people a more intelligent driving experience. Its research results also provide valuable experience and direction for subsequent research.