Pith Number

pith:3PKRT7US

pith:2022:3PKRT7USHTSXCIHF6PDCSGC7KR

not attested not anchored not stored refs pending

Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots

Christoforos Mavrogiannis, Joshua Smith, Patrick Lancaster, Siddhartha Srinivasa

arxiv:2204.02460 v2 · 2022-04-05 · 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{3PKRT7USHTSXCIHF6PDCSGC7KR}

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	2026-07-05T07:06:18.486716Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

dbd519fe923ce57120e5f3c629185f546b2a0f181eae660934c0fc96c1ae8304

Aliases

arxiv: 2204.02460 · arxiv_version: 2204.02460v2 · doi: 10.48550/arxiv.2204.02460 · pith_short_12: 3PKRT7USHTSX · pith_short_16: 3PKRT7USHTSXCIHF · pith_short_8: 3PKRT7US

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/3PKRT7USHTSXCIHF6PDCSGC7KR \
  | 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: dbd519fe923ce57120e5f3c629185f546b2a0f181eae660934c0fc96c1ae8304

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c7631cefe954d0dfa1052e9a2400729a8ddfbbef4936693f794eb8750e61f623",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-04-05T19:31:57Z",
    "title_canon_sha256": "217ce8c627ccb0991dff0c21290edf9c350d1123b049fc97c87fe39aea447311"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2204.02460",
    "kind": "arxiv",
    "version": 2
  }
}