Pith Number

pith:3AUOKILY

pith:2014:3AUOKILY2CWISSIOKQGEVWYMT4

not attested not anchored not stored refs pending

Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots

Anthony M. Bloch, Christine Chevallereau, Hamed Razavi, J. W. Grizzle

arxiv:1411.0181 v2 · 2014-11-01 · cs.RO · cs.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{3AUOKILY2CWISSIOKQGEVWYMT4}

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	2026-05-18T01:12:38.181487Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d828e52178d0ac89490e540c4adb0c9f16d8c87c6f94e9fd384486b673c55ea3

Aliases

arxiv: 1411.0181 · arxiv_version: 1411.0181v2 · doi: 10.48550/arxiv.1411.0181 · pith_short_12: 3AUOKILY2CWI · pith_short_16: 3AUOKILY2CWISSIO · pith_short_8: 3AUOKILY

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/3AUOKILY2CWISSIOKQGEVWYMT4 \
  | 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: d828e52178d0ac89490e540c4adb0c9f16d8c87c6f94e9fd384486b673c55ea3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b48ef62be9661e4d2cd123f360c29d0d749dd2d58dfdc3c46f05f4b0937148e3",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2014-11-01T23:11:55Z",
    "title_canon_sha256": "18ffe38fd58b42b41c341a2db7f3cf56dcbab4a198e12b9edfc40cf7f7bc34bf"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1411.0181",
    "kind": "arxiv",
    "version": 2
  }
}