{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:3Y2M67UHB3YWBX542CYSTSA2NO","short_pith_number":"pith:3Y2M67UH","canonical_record":{"source":{"id":"2409.09939","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T02:31:20Z","cross_cats_sorted":[],"title_canon_sha256":"afd859e473b1adb29b7753931eaf3dd64f052fc996fd2e60624463e8f198aa59","abstract_canon_sha256":"8cc90b36044a2895ae6634e84e6becdef762a363e72d2aa52c727f79f2684941"},"schema_version":"1.0"},"canonical_sha256":"de34cf7e870ef160dfbcd0b129c81a6b8b7b38dac20cb2b5ba8704dede952c38","source":{"kind":"arxiv","id":"2409.09939","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.09939","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"arxiv_version","alias_value":"2409.09939v1","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.09939","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"pith_short_12","alias_value":"3Y2M67UHB3YW","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"pith_short_16","alias_value":"3Y2M67UHB3YWBX54","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"pith_short_8","alias_value":"3Y2M67UH","created_at":"2026-07-05T09:07:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:3Y2M67UHB3YWBX542CYSTSA2NO","target":"record","payload":{"canonical_record":{"source":{"id":"2409.09939","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T02:31:20Z","cross_cats_sorted":[],"title_canon_sha256":"afd859e473b1adb29b7753931eaf3dd64f052fc996fd2e60624463e8f198aa59","abstract_canon_sha256":"8cc90b36044a2895ae6634e84e6becdef762a363e72d2aa52c727f79f2684941"},"schema_version":"1.0"},"canonical_sha256":"de34cf7e870ef160dfbcd0b129c81a6b8b7b38dac20cb2b5ba8704dede952c38","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:07:16.657447Z","signature_b64":"vV9No6UVaFzADZKGTQI3ZnFPTIPZNnYt4nfZqchzpRlk12d8K0EJRdeJ9n6ohb+COx9ldmPzms7W6j4BDD42Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"de34cf7e870ef160dfbcd0b129c81a6b8b7b38dac20cb2b5ba8704dede952c38","last_reissued_at":"2026-07-05T09:07:16.656969Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:07:16.656969Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.09939","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:07:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z8Y4KNnR9V0+LqlznV+wU5K0h74tDWHMqq+BecRuMYKzwB7VoaAUFpK6CMeMIrLi6DB00etXVMzBeEFwPtMKDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:43:42.055619Z"},"content_sha256":"5c7d030dc9d5a1aaaa1f8a0b703761beb75217135880b48aee4981e8fb5c8d3b","schema_version":"1.0","event_id":"sha256:5c7d030dc9d5a1aaaa1f8a0b703761beb75217135880b48aee4981e8fb5c8d3b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:3Y2M67UHB3YWBX542CYSTSA2NO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ian R. Manchester, Tara Bartlett","submitted_at":"2024-09-16T02:31:20Z","abstract_excerpt":"This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than real-time. This is achieved with a novel representation of the dynamic footstep planning problem, where each point in the environment is considered a potential foothold that can apply a force to the center of mass to keep it on a desired trajectory. For a biped, up to two such footholds per time step must be selected, and we approximate this cardinality constraint with an iteratively reweighted $l_1$-norm minimization."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.09939","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/2409.09939/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:07:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Hd26J1MyOWDLXsrmtk3nOGSUjuaOA6CJACt1h1Lybfku+SUDLefQ7HuB1SiB3VhcnJwIneX4kFWKhmxisnonAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:43:42.056009Z"},"content_sha256":"baaa26583d49379a6de4812a122f5467912b8cca99c1fcddc4f345d12de0f836","schema_version":"1.0","event_id":"sha256:baaa26583d49379a6de4812a122f5467912b8cca99c1fcddc4f345d12de0f836"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3Y2M67UHB3YWBX542CYSTSA2NO/bundle.json","state_url":"https://pith.science/pith/3Y2M67UHB3YWBX542CYSTSA2NO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3Y2M67UHB3YWBX542CYSTSA2NO/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-06T18:43:42Z","links":{"resolver":"https://pith.science/pith/3Y2M67UHB3YWBX542CYSTSA2NO","bundle":"https://pith.science/pith/3Y2M67UHB3YWBX542CYSTSA2NO/bundle.json","state":"https://pith.science/pith/3Y2M67UHB3YWBX542CYSTSA2NO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3Y2M67UHB3YWBX542CYSTSA2NO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:3Y2M67UHB3YWBX542CYSTSA2NO","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"8cc90b36044a2895ae6634e84e6becdef762a363e72d2aa52c727f79f2684941","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T02:31:20Z","title_canon_sha256":"afd859e473b1adb29b7753931eaf3dd64f052fc996fd2e60624463e8f198aa59"},"schema_version":"1.0","source":{"id":"2409.09939","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.09939","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"arxiv_version","alias_value":"2409.09939v1","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.09939","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"pith_short_12","alias_value":"3Y2M67UHB3YW","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"pith_short_16","alias_value":"3Y2M67UHB3YWBX54","created_at":"2026-07-05T09:07:16Z"},{"alias_kind":"pith_short_8","alias_value":"3Y2M67UH","created_at":"2026-07-05T09:07:16Z"}],"graph_snapshots":[{"event_id":"sha256:baaa26583d49379a6de4812a122f5467912b8cca99c1fcddc4f345d12de0f836","target":"graph","created_at":"2026-07-05T09:07:16Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2409.09939/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than real-time. This is achieved with a novel representation of the dynamic footstep planning problem, where each point in the environment is considered a potential foothold that can apply a force to the center of mass to keep it on a desired trajectory. For a biped, up to two such footholds per time step must be selected, and we approximate this cardinality constraint with an iteratively reweighted $l_1$-norm minimization.","authors_text":"Ian R. Manchester, Tara Bartlett","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T02:31:20Z","title":"Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.09939","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:5c7d030dc9d5a1aaaa1f8a0b703761beb75217135880b48aee4981e8fb5c8d3b","target":"record","created_at":"2026-07-05T09:07:16Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"8cc90b36044a2895ae6634e84e6becdef762a363e72d2aa52c727f79f2684941","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T02:31:20Z","title_canon_sha256":"afd859e473b1adb29b7753931eaf3dd64f052fc996fd2e60624463e8f198aa59"},"schema_version":"1.0","source":{"id":"2409.09939","kind":"arxiv","version":1}},"canonical_sha256":"de34cf7e870ef160dfbcd0b129c81a6b8b7b38dac20cb2b5ba8704dede952c38","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"de34cf7e870ef160dfbcd0b129c81a6b8b7b38dac20cb2b5ba8704dede952c38","first_computed_at":"2026-07-05T09:07:16.656969Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:07:16.656969Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vV9No6UVaFzADZKGTQI3ZnFPTIPZNnYt4nfZqchzpRlk12d8K0EJRdeJ9n6ohb+COx9ldmPzms7W6j4BDD42Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:07:16.657447Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.09939","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5c7d030dc9d5a1aaaa1f8a0b703761beb75217135880b48aee4981e8fb5c8d3b","sha256:baaa26583d49379a6de4812a122f5467912b8cca99c1fcddc4f345d12de0f836"],"state_sha256":"3fe83b8c36678b15ba19f399821e31f01f6b1725ec8e4ef20f6dcd9cdbb03dbe"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dke4rgyGGf25YJsVJzmCYrxWMrQSTP3+Rl+JyqXkfCFAHOv0ihjcO7NFHmuWq7Nqd6OpkwKI3Y05FsmlgGePDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T18:43:42.058017Z","bundle_sha256":"742cbe7ae1c093b4edf99fba78e214e7522a9daf2f40b5468c90ca20b2fc28b3"}}