{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:4NBDZBE3PE3LOYW3ZVWZP4ZUJ5","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":"4d599330f14389d4c3dc2936dc1c75b72bdd74d2113ec91e296849211722d742","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-05-24T16:56:33Z","title_canon_sha256":"7180c39a32a653cdbe0b5a980f6f968315cc49d32e7ec0b877cfce0f89b812bb"},"schema_version":"1.0","source":{"id":"1305.5794","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1305.5794","created_at":"2026-05-18T03:25:03Z"},{"alias_kind":"arxiv_version","alias_value":"1305.5794v1","created_at":"2026-05-18T03:25:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1305.5794","created_at":"2026-05-18T03:25:03Z"},{"alias_kind":"pith_short_12","alias_value":"4NBDZBE3PE3L","created_at":"2026-05-18T12:27:34Z"},{"alias_kind":"pith_short_16","alias_value":"4NBDZBE3PE3LOYW3","created_at":"2026-05-18T12:27:34Z"},{"alias_kind":"pith_short_8","alias_value":"4NBDZBE3","created_at":"2026-05-18T12:27:34Z"}],"graph_snapshots":[{"event_id":"sha256:8c9128809a487317002a6437dd423dbb5ca78b6ff4394e16ce6310e6109f8a86","target":"graph","created_at":"2026-05-18T03:25:03Z","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"},"paper":{"abstract_excerpt":"The paper studies the problem of making Getz's bicycle model traverse a strictly convex Jordan curve with bounded roll angle and bounded speed. The approach to solving this problem is based on the virtual holonomic constraint (VHC) method. Specifically, a VHC is enforced making the roll angle of the bicycle become a function of the bicycle's position along the curve. It is shown that the VHC can be automatically generated as a periodic solution of a scalar periodic differential equation, which we call virtual constraint generator. Finally, it is shown that if the curve is sufficiently long as ","authors_text":"Luca Consolini, Manfredi Maggiore","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-05-24T16:56:33Z","title":"Control of a Bicycle Using Virtual Holonomic Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1305.5794","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":"sha256:9a96ba3c2615ed00525657af258d9541da06610f6b798a6ad7fd8724b940e184","target":"record","created_at":"2026-05-18T03:25:03Z","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":"4d599330f14389d4c3dc2936dc1c75b72bdd74d2113ec91e296849211722d742","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-05-24T16:56:33Z","title_canon_sha256":"7180c39a32a653cdbe0b5a980f6f968315cc49d32e7ec0b877cfce0f89b812bb"},"schema_version":"1.0","source":{"id":"1305.5794","kind":"arxiv","version":1}},"canonical_sha256":"e3423c849b7936b762dbcd6d97f3344f72b0d4d4a05d934ce790a018b7a0bcd4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e3423c849b7936b762dbcd6d97f3344f72b0d4d4a05d934ce790a018b7a0bcd4","first_computed_at":"2026-05-18T03:25:03.140344Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:25:03.140344Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5xhuBwPKAnhGBHrUr/Rvq2B+a3/rN/A23p2NDMD/6/ROZPE59kG6qYFuWHLppEitoNjmmGoz+BOK98Pagt8ZDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T03:25:03.141022Z","signed_message":"canonical_sha256_bytes"},"source_id":"1305.5794","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9a96ba3c2615ed00525657af258d9541da06610f6b798a6ad7fd8724b940e184","sha256:8c9128809a487317002a6437dd423dbb5ca78b6ff4394e16ce6310e6109f8a86"],"state_sha256":"4c23fcbae204d8f514b888bbaaa0043f196299cc5eefcf4100c89cad24ddf2e4"}