{"id":"https://openalex.org/W4321020593","doi":"https://doi.org/10.1109/sii55687.2023.10039218","title":"Mc-Mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo","display_name":"Mc-Mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo","publication_year":2023,"publication_date":"2023-01-17","ids":{"openalex":"https://openalex.org/W4321020593","doi":"https://doi.org/10.1109/sii55687.2023.10039218"},"language":"en","primary_location":{"id":"doi:10.1109/sii55687.2023.10039218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii55687.2023.10039218","pdf_url":null,"source":{"id":"https://openalex.org/S4363605654","display_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067779478","display_name":"Rohan Singh","orcid":"https://orcid.org/0000-0002-9399-618X"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rohan P. Singh","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory) IRL,Japan","CNRS-AIST JRL (Joint Robotics Laboratory) IRL, National Institute of Advanced Industrial Science and Technology (AIST), Japan","University of Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory) IRL,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory) IRL, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"University of Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058095625","display_name":"Pierre Gergondet","orcid":"https://orcid.org/0000-0003-4925-2519"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Pierre Gergondet","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory) IRL,Japan","CNRS-AIST JRL (Joint Robotics Laboratory) IRL, National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory) IRL,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory) IRL, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory) IRL,Japan","CNRS-AIST JRL (Joint Robotics Laboratory) IRL, National Institute of Advanced Industrial Science and Technology (AIST), Japan","University of Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory) IRL,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory) IRL, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"University of Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7541815042495728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7167046666145325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5827487111091614},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.5654494166374207},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5539448261260986},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5498467087745667},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5317845344543457},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4905985891819},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.451936811208725},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3644249439239502},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3607291579246521},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3415168821811676},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3121955394744873},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20950299501419067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20898696780204773},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1985400915145874},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1693921983242035},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11671820282936096},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.10492974519729614}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7541815042495728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7167046666145325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5827487111091614},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.5654494166374207},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5539448261260986},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5498467087745667},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5317845344543457},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4905985891819},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.451936811208725},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3644249439239502},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3607291579246521},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3415168821811676},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3121955394744873},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20950299501419067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20898696780204773},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1985400915145874},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1693921983242035},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11671820282936096},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.10492974519729614},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sii55687.2023.10039218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii55687.2023.10039218","pdf_url":null,"source":{"id":"https://openalex.org/S4363605654","display_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04745623v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04745623","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE/SICE International Symposium on System Integration (SII), Jan 2023, Atlanta, France. pp.1-5, ⟨10.1109/SII55687.2023.10039218⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1570792896","https://openalex.org/W1640322990","https://openalex.org/W2019606703","https://openalex.org/W2044627378","https://openalex.org/W2158782408","https://openalex.org/W2213758982","https://openalex.org/W2967793392","https://openalex.org/W2990747716","https://openalex.org/W3011409925","https://openalex.org/W3092514654","https://openalex.org/W3101269502"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W4386128912","https://openalex.org/W2910269320"],"abstract_inverted_index":{"For":[0],"safe":[1],"and":[2,59,84,91,120,130,145,154,170,179],"reliable":[3],"deployment":[4],"of":[5,25,81,157],"any":[6,139],"robot":[7,31,69,123,165,177],"controller":[8,27,70,74,150,182],"on":[9],"the":[10,23,26,29,47,64,68,116,121,132,162,175,180],"real":[11],"hardware":[12],"platform,":[13],"it":[14,54],"is":[15,55],"generally":[16],"a":[17,33,57,77,87,98,147,158],"necessary":[18],"practice":[19],"to":[20,62],"comprehensively":[21],"assess":[22],"performance":[24],"with":[28,67],"specific":[30],"in":[32,166],"realistic":[34],"simulation":[35,65],"environment":[36,66],"beforehand.":[37],"While":[38],"there":[39],"exist":[40],"several":[41],"software":[42,109],"solutions":[43],"that":[44,111],"can":[45],"provide":[46,127],"core":[48],"physics":[49,118],"engine":[50],"for":[51,134,137,151,173],"this":[52,101],"purpose,":[53],"often":[56],"cumbersome":[58],"error-prone":[60],"effort":[61],"interface":[63,114],"being":[71],"evaluated.":[72],"The":[73,168],"may":[75,92],"have":[76],"complex":[78],"structure":[79],"consisting":[80],"multiple":[82],"states":[83],"transitions":[85],"within":[86],"finite-state":[88],"machine":[89],"(FSM),":[90],"even":[93],"require":[94],"user":[95],"input":[96],"through":[97],"GUI.":[99],"In":[100],"work,":[102],"we":[103],"present":[104],"mc-mujoco":[105],"-":[106],"an":[107,113],"open-source":[108],"framework":[110],"forms":[112],"between":[115],"MuJoCo":[117],"simulator":[119],"mc-rtc":[122],"control":[124],"framework.":[125],"We":[126,142],"implementation":[128],"details":[129],"describe":[131],"process":[133],"adding":[135],"support":[136],"essentially":[138],"new":[140],"robot.":[141],"also":[143],"demonstrate":[144],"publish":[146],"sample":[148],"FSM":[149,181],"bipedal":[152],"locomotion":[153],"stable":[155],"grasping":[156],"rigid":[159],"object":[160],"by":[161],"HRP-5P":[163],"humanoid":[164],"MuJoCo.":[167],"code":[169],"usage":[171],"instructions":[172],"mc-mujoco,":[174],"developed":[176],"modules,":[178],"are":[183],"available":[184],"online.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}