{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:4T6OG2VSOFZUHIG7IJ5OA7R3OD","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":"03fc685a0a060a726fb415327975fbf7389899f766fdd9c372284e4d62159f72","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T06:26:03Z","title_canon_sha256":"7eb7f97fa8734e12ce1d957a3d870f45aeac61e4b2eda4c3fc464a2acae79b58"},"schema_version":"1.0","source":{"id":"2409.10024","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.10024","created_at":"2026-07-05T10:27:14Z"},{"alias_kind":"arxiv_version","alias_value":"2409.10024v5","created_at":"2026-07-05T10:27:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.10024","created_at":"2026-07-05T10:27:14Z"},{"alias_kind":"pith_short_12","alias_value":"4T6OG2VSOFZU","created_at":"2026-07-05T10:27:14Z"},{"alias_kind":"pith_short_16","alias_value":"4T6OG2VSOFZUHIG7","created_at":"2026-07-05T10:27:14Z"},{"alias_kind":"pith_short_8","alias_value":"4T6OG2VS","created_at":"2026-07-05T10:27:14Z"}],"graph_snapshots":[{"event_id":"sha256:85950bd48582bce28ce21fcb68ffd1cc8cbab006c00d9de9e734747b0b8e927f","target":"graph","created_at":"2026-07-05T10:27:14Z","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/2409.10024/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and passive interaction control. To accomplish this, we propose the design of a novel Active Remote Center of Compliance (ARCC), which is based on a passive and active element which can be used to directly control the interaction forces. We introduce surrogate models for a dynamic comparison against purely robot-based interaction schemes. In a comparative validation,","authors_text":"Christian Friedrich, Marco Santin, Matthias Haag, Patrick Frank","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T06:26:03Z","title":"Highly dynamic physical interaction for robotics: design and control of an active remote center of compliance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.10024","kind":"arxiv","version":5},"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:b8d4c1b9586965af9066e12f5705d66250ad3f0b98f4515d53df54250d80cd7e","target":"record","created_at":"2026-07-05T10:27:14Z","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":"03fc685a0a060a726fb415327975fbf7389899f766fdd9c372284e4d62159f72","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T06:26:03Z","title_canon_sha256":"7eb7f97fa8734e12ce1d957a3d870f45aeac61e4b2eda4c3fc464a2acae79b58"},"schema_version":"1.0","source":{"id":"2409.10024","kind":"arxiv","version":5}},"canonical_sha256":"e4fce36ab2717343a0df427ae07e3b70e1244aa246fb85a49e8e39fab7c6450c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e4fce36ab2717343a0df427ae07e3b70e1244aa246fb85a49e8e39fab7c6450c","first_computed_at":"2026-07-05T10:27:14.596926Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:27:14.596926Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0vIpAI9JUH5J7U34AUpLIoOEjGBGycZLbFqkb/UMAY/DkiwLNKODyhowPCb6G4PPSocelnCY2e6G9rEnsbyqAg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:27:14.599577Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.10024","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b8d4c1b9586965af9066e12f5705d66250ad3f0b98f4515d53df54250d80cd7e","sha256:85950bd48582bce28ce21fcb68ffd1cc8cbab006c00d9de9e734747b0b8e927f"],"state_sha256":"7eaca2d8efd03b5432269393c46fcafa4d245240de3e8f5e43bca7f642283ec0"}