To achieve drive task by a humanoid, quite similar body proportions to humans and flexible body control to adapt complex environmental contact are necessary. Human mimetic humanoid Kengoro is candidate for such task since its body is made as close musculoskeletal structure to humans as possible. In this paper, as flexible body control for human mimetic humanoid, a joint space controller based on muscle tensions was developed. By using the controller, a joint of Kengoro can be actuated by force or torque input and it enables adaptive contact to the environment. In the experiment to drive actual vehicle COMS with Kengoro, it was succeeded with properly pedal operation, and foot force adjustment to step brake pedal was effectively performed. These results shows effectiveness of the developed method for pedal operation of a vehicle.