{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:5HIEGRXDR5YVVPKCO4EI4BSHQL","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":"d2b6a3c2a95873da22a610e4ac3731652202b0acf9efe580fba9f9f654d0bbe3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-10-15T21:12:36Z","title_canon_sha256":"f7e93e5a2c0fec480c897687d1418298e1218c6234ce8fe5f1871f57d6a3edcc"},"schema_version":"1.0","source":{"id":"1810.06697","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.06697","created_at":"2026-05-18T00:03:11Z"},{"alias_kind":"arxiv_version","alias_value":"1810.06697v1","created_at":"2026-05-18T00:03:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.06697","created_at":"2026-05-18T00:03:11Z"},{"alias_kind":"pith_short_12","alias_value":"5HIEGRXDR5YV","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5HIEGRXDR5YVVPKC","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5HIEGRXD","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:0ca2430e641721761629432d2a04079dbab0444bee5429ef860beeb6f4e7914c","target":"graph","created_at":"2026-05-18T00:03:11Z","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":"Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address multi-domain hybrid models of quadruped robots with high degrees of freedom, and 2) to systematically design nonlinear controllers that asymptotically stabilize periodic orbits of these sophisticated models. A family of parameterized virtual constraint controllers is proposed for continuous-time domains of quadruped locomotion to regulate holonomic and nonholonomic out","authors_text":"Aaron D. Ames, Kaveh Akbari Hamed, Wen-Loong","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-10-15T21:12:36Z","title":"Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.06697","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":"sha256:16427cbfbef2b8e5a112ebf7b2d4699767f6d18cf88d770b000933ec1e88b3d9","target":"record","created_at":"2026-05-18T00:03:11Z","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":"d2b6a3c2a95873da22a610e4ac3731652202b0acf9efe580fba9f9f654d0bbe3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-10-15T21:12:36Z","title_canon_sha256":"f7e93e5a2c0fec480c897687d1418298e1218c6234ce8fe5f1871f57d6a3edcc"},"schema_version":"1.0","source":{"id":"1810.06697","kind":"arxiv","version":1}},"canonical_sha256":"e9d04346e38f715abd4277088e064782cb03324ea1b42b1cf7d4a517302ef4b7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e9d04346e38f715abd4277088e064782cb03324ea1b42b1cf7d4a517302ef4b7","first_computed_at":"2026-05-18T00:03:11.882396Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:03:11.882396Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OJe0DaWG6X94kZUtKTODsg2eyQ8/SGpm8qhOWFjcv4uLLy+OGkc02KlYB6woZIIjnEhBTFxWrNvwYhB5ZoKADQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:03:11.883043Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.06697","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:16427cbfbef2b8e5a112ebf7b2d4699767f6d18cf88d770b000933ec1e88b3d9","sha256:0ca2430e641721761629432d2a04079dbab0444bee5429ef860beeb6f4e7914c"],"state_sha256":"997450b2e8010e6a68a5577ab5e4e3256e0eeee7b8735cd40ac070db0b5f9794"}