{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:24NFCALRVVLGZGCD3SEMJFYA56","short_pith_number":"pith:24NFCALR","schema_version":"1.0","canonical_sha256":"d71a510171ad566c9843dc88c49700ef81ab89212ab21956c76a2ba8e341aa60","source":{"kind":"arxiv","id":"2505.23501","version":1},"attestation_state":"computed","paper":{"title":"Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Masaki Murooka, Masayuki Inaba","submitted_at":"2025-05-29T14:47:44Z","abstract_excerpt":"Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of the robot links. By representing the contact point on the body surface by two-dimensional configuration variables, the joint positions and contact points are simultaneously determined through a gradient-based optimization. By generating motions with the proposed method, we present experiments in which robots manipulate objects effectively utilizing whole-bod"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2505.23501","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-29T14:47:44Z","cross_cats_sorted":[],"title_canon_sha256":"b2793659e80a183e1607d6b49c8b7b0ca336640c772253df9148a5152d089b85","abstract_canon_sha256":"7fc6601d9c12da726d06fc4fd41b2d26af2575ef0362f43528c1bd2e73365d1a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:12:03.056603Z","signature_b64":"UpYTqrtJ+HPEP+iNglLa8PXdRVtPf5Xg+jUba8bVgm6nOQByhUvi4f2lK20kAepyHFa5INjrahgVuKY5L1CBDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d71a510171ad566c9843dc88c49700ef81ab89212ab21956c76a2ba8e341aa60","last_reissued_at":"2026-07-05T11:12:03.056101Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:12:03.056101Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Masaki Murooka, Masayuki Inaba","submitted_at":"2025-05-29T14:47:44Z","abstract_excerpt":"Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of the robot links. By representing the contact point on the body surface by two-dimensional configuration variables, the joint positions and contact points are simultaneously determined through a gradient-based optimization. By generating motions with the proposed method, we present experiments in which robots manipulate objects effectively utilizing whole-bod"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.23501","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2505.23501/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2505.23501","created_at":"2026-07-05T11:12:03.056157+00:00"},{"alias_kind":"arxiv_version","alias_value":"2505.23501v1","created_at":"2026-07-05T11:12:03.056157+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.23501","created_at":"2026-07-05T11:12:03.056157+00:00"},{"alias_kind":"pith_short_12","alias_value":"24NFCALRVVLG","created_at":"2026-07-05T11:12:03.056157+00:00"},{"alias_kind":"pith_short_16","alias_value":"24NFCALRVVLGZGCD","created_at":"2026-07-05T11:12:03.056157+00:00"},{"alias_kind":"pith_short_8","alias_value":"24NFCALR","created_at":"2026-07-05T11:12:03.056157+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/24NFCALRVVLGZGCD3SEMJFYA56","json":"https://pith.science/pith/24NFCALRVVLGZGCD3SEMJFYA56.json","graph_json":"https://pith.science/api/pith-number/24NFCALRVVLGZGCD3SEMJFYA56/graph.json","events_json":"https://pith.science/api/pith-number/24NFCALRVVLGZGCD3SEMJFYA56/events.json","paper":"https://pith.science/paper/24NFCALR"},"agent_actions":{"view_html":"https://pith.science/pith/24NFCALRVVLGZGCD3SEMJFYA56","download_json":"https://pith.science/pith/24NFCALRVVLGZGCD3SEMJFYA56.json","view_paper":"https://pith.science/paper/24NFCALR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2505.23501&json=true","fetch_graph":"https://pith.science/api/pith-number/24NFCALRVVLGZGCD3SEMJFYA56/graph.json","fetch_events":"https://pith.science/api/pith-number/24NFCALRVVLGZGCD3SEMJFYA56/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/24NFCALRVVLGZGCD3SEMJFYA56/action/timestamp_anchor","attest_storage":"https://pith.science/pith/24NFCALRVVLGZGCD3SEMJFYA56/action/storage_attestation","attest_author":"https://pith.science/pith/24NFCALRVVLGZGCD3SEMJFYA56/action/author_attestation","sign_citation":"https://pith.science/pith/24NFCALRVVLGZGCD3SEMJFYA56/action/citation_signature","submit_replication":"https://pith.science/pith/24NFCALRVVLGZGCD3SEMJFYA56/action/replication_record"}},"created_at":"2026-07-05T11:12:03.056157+00:00","updated_at":"2026-07-05T11:12:03.056157+00:00"}