{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:6Y2IGTKC2L2GLRIYMCZKB2OJCD","short_pith_number":"pith:6Y2IGTKC","canonical_record":{"source":{"id":"2412.00737","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-01T09:06:57Z","cross_cats_sorted":[],"title_canon_sha256":"fc9bb30fbdb000a2073a547d41bf6c6556929b942452470ae0e829ffe36280cf","abstract_canon_sha256":"d7253fa09ba3b7a7349be20e112aec95d62744cc4a00abae78b6c5b31971401a"},"schema_version":"1.0"},"canonical_sha256":"f634834d42d2f465c51860b2a0e9c910deb13169d018413101f1f2c2eae652a6","source":{"kind":"arxiv","id":"2412.00737","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.00737","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"arxiv_version","alias_value":"2412.00737v1","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.00737","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"pith_short_12","alias_value":"6Y2IGTKC2L2G","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"pith_short_16","alias_value":"6Y2IGTKC2L2GLRIY","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"pith_short_8","alias_value":"6Y2IGTKC","created_at":"2026-07-05T09:42:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:6Y2IGTKC2L2GLRIYMCZKB2OJCD","target":"record","payload":{"canonical_record":{"source":{"id":"2412.00737","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-01T09:06:57Z","cross_cats_sorted":[],"title_canon_sha256":"fc9bb30fbdb000a2073a547d41bf6c6556929b942452470ae0e829ffe36280cf","abstract_canon_sha256":"d7253fa09ba3b7a7349be20e112aec95d62744cc4a00abae78b6c5b31971401a"},"schema_version":"1.0"},"canonical_sha256":"f634834d42d2f465c51860b2a0e9c910deb13169d018413101f1f2c2eae652a6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:42:46.663586Z","signature_b64":"BUvhyPGI2+ycU0pxHI+LdlOP/CyCrn1cVeSYbhP8eHC/yVJswwgoUK2I04UnzfKxUoR/RK64VmgeR29q3CV+Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f634834d42d2f465c51860b2a0e9c910deb13169d018413101f1f2c2eae652a6","last_reissued_at":"2026-07-05T09:42:46.663078Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:42:46.663078Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.00737","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:42:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nFyhILUaF+aDVRq7KjaPZgqrLp45hMuJlg7oBcxiSioqIrOfzMF0djf1/mw5RZT7x1SG6CkGsxdbufU8wndoAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T22:33:37.844980Z"},"content_sha256":"897673dae4aa7065b487d93d4ed8f0a0ad836b92f6fba3c6f7d976da40ea33cb","schema_version":"1.0","event_id":"sha256:897673dae4aa7065b487d93d4ed8f0a0ad836b92f6fba3c6f7d976da40ea33cb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:6Y2IGTKC2L2GLRIYMCZKB2OJCD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Kei Tsuzuki, Kento Kawaharazuka, Masayuki Inaba, Moritaka Onitsuka, Tasuku Makabe, Yuki Asano, Yusuke Omura, Yuya Koga","submitted_at":"2024-12-01T09:06:57Z","abstract_excerpt":"In recent years, some research on musculoskeletal humanoids is in progress. However, there are some challenges such as unmeasurable transformation of body structure and muscle path, and difficulty in measuring own motion because of lack of joint angle sensor. In this study, we suggest two motion acquisition methods. One is a method to acquire antagonistic relations of muscles by tension sensing, and the other is a method to acquire correct hand trajectory by vision sensing. Finally, we realize badminton shuttlecock-hitting motion of Kengoro with these two acquisition methods."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.00737","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2412.00737/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:42:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"a4epds1nM9jPhNxh5eETfVGu0YvNMOwXKtQPYd+2rcx3I2J7EUHXcEnFx7b3+4r4qvD1X04O5R3Vs/iQzXNWAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T22:33:37.845382Z"},"content_sha256":"55f93ecc5660616ccc7d7ebbe5fc19c641da8f89851cd45fdc98dd8d04353f53","schema_version":"1.0","event_id":"sha256:55f93ecc5660616ccc7d7ebbe5fc19c641da8f89851cd45fdc98dd8d04353f53"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6Y2IGTKC2L2GLRIYMCZKB2OJCD/bundle.json","state_url":"https://pith.science/pith/6Y2IGTKC2L2GLRIYMCZKB2OJCD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6Y2IGTKC2L2GLRIYMCZKB2OJCD/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-08T22:33:37Z","links":{"resolver":"https://pith.science/pith/6Y2IGTKC2L2GLRIYMCZKB2OJCD","bundle":"https://pith.science/pith/6Y2IGTKC2L2GLRIYMCZKB2OJCD/bundle.json","state":"https://pith.science/pith/6Y2IGTKC2L2GLRIYMCZKB2OJCD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6Y2IGTKC2L2GLRIYMCZKB2OJCD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:6Y2IGTKC2L2GLRIYMCZKB2OJCD","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":"d7253fa09ba3b7a7349be20e112aec95d62744cc4a00abae78b6c5b31971401a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-01T09:06:57Z","title_canon_sha256":"fc9bb30fbdb000a2073a547d41bf6c6556929b942452470ae0e829ffe36280cf"},"schema_version":"1.0","source":{"id":"2412.00737","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.00737","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"arxiv_version","alias_value":"2412.00737v1","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.00737","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"pith_short_12","alias_value":"6Y2IGTKC2L2G","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"pith_short_16","alias_value":"6Y2IGTKC2L2GLRIY","created_at":"2026-07-05T09:42:46Z"},{"alias_kind":"pith_short_8","alias_value":"6Y2IGTKC","created_at":"2026-07-05T09:42:46Z"}],"graph_snapshots":[{"event_id":"sha256:55f93ecc5660616ccc7d7ebbe5fc19c641da8f89851cd45fdc98dd8d04353f53","target":"graph","created_at":"2026-07-05T09:42:46Z","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/2412.00737/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In recent years, some research on musculoskeletal humanoids is in progress. However, there are some challenges such as unmeasurable transformation of body structure and muscle path, and difficulty in measuring own motion because of lack of joint angle sensor. In this study, we suggest two motion acquisition methods. One is a method to acquire antagonistic relations of muscles by tension sensing, and the other is a method to acquire correct hand trajectory by vision sensing. Finally, we realize badminton shuttlecock-hitting motion of Kengoro with these two acquisition methods.","authors_text":"Kei Okada, Kei Tsuzuki, Kento Kawaharazuka, Masayuki Inaba, Moritaka Onitsuka, Tasuku Makabe, Yuki Asano, Yusuke Omura, Yuya Koga","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-01T09:06:57Z","title":"Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.00737","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":"sha256:897673dae4aa7065b487d93d4ed8f0a0ad836b92f6fba3c6f7d976da40ea33cb","target":"record","created_at":"2026-07-05T09:42:46Z","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":"d7253fa09ba3b7a7349be20e112aec95d62744cc4a00abae78b6c5b31971401a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-01T09:06:57Z","title_canon_sha256":"fc9bb30fbdb000a2073a547d41bf6c6556929b942452470ae0e829ffe36280cf"},"schema_version":"1.0","source":{"id":"2412.00737","kind":"arxiv","version":1}},"canonical_sha256":"f634834d42d2f465c51860b2a0e9c910deb13169d018413101f1f2c2eae652a6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f634834d42d2f465c51860b2a0e9c910deb13169d018413101f1f2c2eae652a6","first_computed_at":"2026-07-05T09:42:46.663078Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:42:46.663078Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"BUvhyPGI2+ycU0pxHI+LdlOP/CyCrn1cVeSYbhP8eHC/yVJswwgoUK2I04UnzfKxUoR/RK64VmgeR29q3CV+Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:42:46.663586Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.00737","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:897673dae4aa7065b487d93d4ed8f0a0ad836b92f6fba3c6f7d976da40ea33cb","sha256:55f93ecc5660616ccc7d7ebbe5fc19c641da8f89851cd45fdc98dd8d04353f53"],"state_sha256":"31fa5f099413295e8db643fe59ec33a33e5c219bf062bf78775cf75c2580f72b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eyS09oiymYVFIX7IsqiLYv7HxHGiiGRvl4PeacjttRrQuWfjjpak5fC86djSXsx1g0ak/dzNpFajZXAR2PfrBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-08T22:33:37.847536Z","bundle_sha256":"c765e3763623ce0a4d3082bf63770b752be0996f17dc5da0a5ac3f1a67effe64"}}