Pith Number

pith:27TZ7HTK

pith:2019:27TZ7HTKH6DI2KSUNRUHMJHEK2

not attested not anchored not stored refs pending

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

Alexander Badri-Spr\"owitz, Avadesh Meduri, Felix Grimminger, Felix Widmaier, Jonathan Fiene, Julian Viereck, Ludovic Righetti, Majid Khadiv, Manuel W\"uthrich, Maximilien Naveau, Steve Heim, Thomas Flayols, Vincent Berenz

arxiv:1910.00093 v2 · 2019-09-30 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{27TZ7HTKH6DI2KSUNRUHMJHEK2}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T02:16:11.500773Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d7e79f9e6a3f868d2a546c687624e456bffa6d86c9b0ceed21fe4130a3b7eb69

Aliases

arxiv: 1910.00093 · arxiv_version: 1910.00093v2 · doi: 10.48550/arxiv.1910.00093 · pith_short_12: 27TZ7HTKH6DI · pith_short_16: 27TZ7HTKH6DI2KSU · pith_short_8: 27TZ7HTK

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/27TZ7HTKH6DI2KSUNRUHMJHEK2 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: d7e79f9e6a3f868d2a546c687624e456bffa6d86c9b0ceed21fe4130a3b7eb69

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6ad13e83080e1174301e60c22f1de804a5feb29db7901c5466108e2b5dec8ad8",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-09-30T20:39:22Z",
    "title_canon_sha256": "e13ab74cf3bfa0993459dcff3fdacaff365a517130affee32dae5a98ed255dd1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1910.00093",
    "kind": "arxiv",
    "version": 2
  }
}