{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:4DQAFQG5Z7CRGDEYOOABCF5JSN","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":"76ba994c48b1b8cf2c280ffc1573a765b5934dc24dab062b2a461e85ee184e9b","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2020-11-16T13:38:11Z","title_canon_sha256":"2cf6b31d66c7602406b67619701d015a25992e4b282365743cbb9e475baf80a2"},"schema_version":"1.0","source":{"id":"2011.07939","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.07939","created_at":"2026-07-05T01:51:55Z"},{"alias_kind":"arxiv_version","alias_value":"2011.07939v1","created_at":"2026-07-05T01:51:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.07939","created_at":"2026-07-05T01:51:55Z"},{"alias_kind":"pith_short_12","alias_value":"4DQAFQG5Z7CR","created_at":"2026-07-05T01:51:55Z"},{"alias_kind":"pith_short_16","alias_value":"4DQAFQG5Z7CRGDEY","created_at":"2026-07-05T01:51:55Z"},{"alias_kind":"pith_short_8","alias_value":"4DQAFQG5","created_at":"2026-07-05T01:51:55Z"}],"graph_snapshots":[{"event_id":"sha256:3b975bf51464719731040e790ccdb61fe7dbac1c9ab1363808dcabcb49f4127b","target":"graph","created_at":"2026-07-05T01:51:55Z","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/2011.07939/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Soft robots promise improved safety and capability over rigid robots when deployed in complex, delicate, and dynamic environments. However, the infinite degrees of freedom and highly nonlinear dynamics of these systems severely complicate their modeling and control. As a step toward addressing this open challenge, we apply the data-driven, Hankel Dynamic Mode Decomposition (HDMD) with time delay observables to the model identification of a highly inertial, helical soft robotic arm with a high number of underactuated degrees of freedom. The resulting model is linear and hence amenable to contro","authors_text":"David A. Haggerty, Elliot W. Hawkes, Igor Mezi\\'c, Michael J. Banks, Patrick C. Curtis","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2020-11-16T13:38:11Z","title":"Modeling, Reduction, and Control of a Helically Actuated Inertial Soft Robotic Arm via the Koopman Operator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.07939","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":"sha256:72e18697e89bcc09d49ef0cdc7bc3f6fb7c0018c151f37d6f6ad7e85fd770fde","target":"record","created_at":"2026-07-05T01:51:55Z","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":"76ba994c48b1b8cf2c280ffc1573a765b5934dc24dab062b2a461e85ee184e9b","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2020-11-16T13:38:11Z","title_canon_sha256":"2cf6b31d66c7602406b67619701d015a25992e4b282365743cbb9e475baf80a2"},"schema_version":"1.0","source":{"id":"2011.07939","kind":"arxiv","version":1}},"canonical_sha256":"e0e002c0ddcfc5130c9873801117a9935c5b43ae5617842fb14bc3903ebbf539","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e0e002c0ddcfc5130c9873801117a9935c5b43ae5617842fb14bc3903ebbf539","first_computed_at":"2026-07-05T01:51:55.834461Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:51:55.834461Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lc24IXlj+LSbJqy0uhxeoy6+YXbtqZfVGd00EQ06hV4xmf6sLz6k44gaMVyK/fqaTX4JYboOPIl7lJMokzNAAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:51:55.834866Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.07939","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:72e18697e89bcc09d49ef0cdc7bc3f6fb7c0018c151f37d6f6ad7e85fd770fde","sha256:3b975bf51464719731040e790ccdb61fe7dbac1c9ab1363808dcabcb49f4127b"],"state_sha256":"9c6ff680c1f85af84bc7be3e248fb14dfe60194d0f18c9162f9d143ad4f0ed8c"}