{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:2MONHM2J52KYKLGZOS4OSDXWAS","short_pith_number":"pith:2MONHM2J","schema_version":"1.0","canonical_sha256":"d31cd3b349ee95852cd974b8e90ef6049efbb2d8901edf6ba16c36ab1b34339b","source":{"kind":"arxiv","id":"2311.00197","version":1},"attestation_state":"computed","paper":{"title":"Design, Modeling, and Control of a Low-Cost and Rapid Response Soft-Growing Manipulator for Orchard Operations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christopher Ninatanta, Ethan Tuck, Jack Coleman, Jack Spieker, Jiecai Luo, Jordan Kurtz, Justin Allen, Manoj Karkee, Matthew D. Whiting, Ming Luo, Qin Zhang, Ryan Dorosh, Zixuan He","submitted_at":"2023-11-01T00:06:03Z","abstract_excerpt":"Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been prohibitively costly, slow, or require a reconfiguration of the orchard in order to function. In this paper, we introduce an alternative approach to robotics using a novel and low-cost soft-growing robotic platform. Our platform features the ability to extend up to 1.2 m linearly at a maximum speed of 0.27 m/s. The soft-growing robotic arm can operate with a"},"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":"2311.00197","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-01T00:06:03Z","cross_cats_sorted":[],"title_canon_sha256":"4015dc8dfb3c76a17c3e8a9dc61cd258b759bdb1aec0950c5ab3c094bd7a071e","abstract_canon_sha256":"1ed51a304287ad64e64e62d55d1cb48d3c3a356402509e3e30adfd2d3836b95c"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:07:43.702299Z","signature_b64":"bWc/vCAtk2d9uBgOjkuTjE+Dor6OYbIO0c7mV7w8fGUSwxMt4StGpktU4f1+wjq8f+RefbFpkdUEtyblQqgbAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d31cd3b349ee95852cd974b8e90ef6049efbb2d8901edf6ba16c36ab1b34339b","last_reissued_at":"2026-07-05T07:07:43.701822Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:07:43.701822Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Design, Modeling, and Control of a Low-Cost and Rapid Response Soft-Growing Manipulator for Orchard Operations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christopher Ninatanta, Ethan Tuck, Jack Coleman, Jack Spieker, Jiecai Luo, Jordan Kurtz, Justin Allen, Manoj Karkee, Matthew D. Whiting, Ming Luo, Qin Zhang, Ryan Dorosh, Zixuan He","submitted_at":"2023-11-01T00:06:03Z","abstract_excerpt":"Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been prohibitively costly, slow, or require a reconfiguration of the orchard in order to function. In this paper, we introduce an alternative approach to robotics using a novel and low-cost soft-growing robotic platform. Our platform features the ability to extend up to 1.2 m linearly at a maximum speed of 0.27 m/s. The soft-growing robotic arm can operate with a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.00197","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/2311.00197/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":"2311.00197","created_at":"2026-07-05T07:07:43.701887+00:00"},{"alias_kind":"arxiv_version","alias_value":"2311.00197v1","created_at":"2026-07-05T07:07:43.701887+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.00197","created_at":"2026-07-05T07:07:43.701887+00:00"},{"alias_kind":"pith_short_12","alias_value":"2MONHM2J52KY","created_at":"2026-07-05T07:07:43.701887+00:00"},{"alias_kind":"pith_short_16","alias_value":"2MONHM2J52KYKLGZ","created_at":"2026-07-05T07:07:43.701887+00:00"},{"alias_kind":"pith_short_8","alias_value":"2MONHM2J","created_at":"2026-07-05T07:07:43.701887+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/2MONHM2J52KYKLGZOS4OSDXWAS","json":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS.json","graph_json":"https://pith.science/api/pith-number/2MONHM2J52KYKLGZOS4OSDXWAS/graph.json","events_json":"https://pith.science/api/pith-number/2MONHM2J52KYKLGZOS4OSDXWAS/events.json","paper":"https://pith.science/paper/2MONHM2J"},"agent_actions":{"view_html":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS","download_json":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS.json","view_paper":"https://pith.science/paper/2MONHM2J","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2311.00197&json=true","fetch_graph":"https://pith.science/api/pith-number/2MONHM2J52KYKLGZOS4OSDXWAS/graph.json","fetch_events":"https://pith.science/api/pith-number/2MONHM2J52KYKLGZOS4OSDXWAS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS/action/storage_attestation","attest_author":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS/action/author_attestation","sign_citation":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS/action/citation_signature","submit_replication":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS/action/replication_record"}},"created_at":"2026-07-05T07:07:43.701887+00:00","updated_at":"2026-07-05T07:07:43.701887+00:00"}