Pith Number

pith:6TB6RYCL

pith:2015:6TB6RYCLXWXCE7FNHLUBNBHSOL

not attested not anchored not stored refs pending

Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas

Quang-Cuong Pham, St\'ephane Caron, Yoshihiko Nakamura

arxiv:1501.04719 v1 · 2015-01-20 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{6TB6RYCLXWXCE7FNHLUBNBHSOL}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-05-18T02:29:03.022493Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f4c3e8e04bbdae227cad3ae81684f272fb357cc0473f1ca0fc8844e3c333a2fb

Aliases

arxiv: 1501.04719 · arxiv_version: 1501.04719v1 · doi: 10.48550/arxiv.1501.04719 · pith_short_12: 6TB6RYCLXWXC · pith_short_16: 6TB6RYCLXWXCE7FN · pith_short_8: 6TB6RYCL

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/6TB6RYCLXWXCE7FNHLUBNBHSOL \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: f4c3e8e04bbdae227cad3ae81684f272fb357cc0473f1ca0fc8844e3c333a2fb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6b450248ceb35cb96b0b515211e6c9f139743c2a1e977bee2bc57a08652c908d",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2015-01-20T06:28:33Z",
    "title_canon_sha256": "1e7410625e28d489a4bc6cd3504fe1c8f36e94e38afeb5b369f02d0ac59d7616"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1501.04719",
    "kind": "arxiv",
    "version": 1
  }
}