{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:7J7ECWUC4KZQNHT4LFAUEHSL2I","short_pith_number":"pith:7J7ECWUC","schema_version":"1.0","canonical_sha256":"fa7e415a82e2b3069e7c5941421e4bd234ed8ec60e005f12b83a58db6a3e2fdc","source":{"kind":"arxiv","id":"1706.06418","version":1},"attestation_state":"computed","paper":{"title":"Design and optimal springs stiffness estimation of a Modular OmniCrawler in-pipe climbing Robot","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abhishek Sarkar, Akash Singh, Enna Sachdeva, K.Madhava Krishna","submitted_at":"2017-06-19T12:23:29Z","abstract_excerpt":"This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant joints. While the tank-like crawler mechanism provides good traction on low friction surfaces, its circular cross-section makes it holonomic. The holonomic motion assists it to re-align in a direction to avoid obstacles during motion as well as overcome turns with a minimal energy posture. Additionally, the modularity enables it to negotiate T-junction with"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1706.06418","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-19T12:23:29Z","cross_cats_sorted":[],"title_canon_sha256":"5956a497c76ac543c059d5d9e9525b9ee9d95d045f88cce4d0a5bf8587b2e899","abstract_canon_sha256":"8511f3d778e70708c4ccfe0edd2a8388d824258a41ceb42d4af1cdcb91f4dfc8"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:42:03.286597Z","signature_b64":"HbP74xYKeZW+2SzFIYHOK4efFjjEgbls4TC59MLMAMlF0GHUB93aYobp/AHiviA1EsIXEuXtTT6rJh5soRAmDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fa7e415a82e2b3069e7c5941421e4bd234ed8ec60e005f12b83a58db6a3e2fdc","last_reissued_at":"2026-05-18T00:42:03.286014Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:42:03.286014Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Design and optimal springs stiffness estimation of a Modular OmniCrawler in-pipe climbing Robot","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abhishek Sarkar, Akash Singh, Enna Sachdeva, K.Madhava Krishna","submitted_at":"2017-06-19T12:23:29Z","abstract_excerpt":"This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant joints. While the tank-like crawler mechanism provides good traction on low friction surfaces, its circular cross-section makes it holonomic. The holonomic motion assists it to re-align in a direction to avoid obstacles during motion as well as overcome turns with a minimal energy posture. Additionally, the modularity enables it to negotiate T-junction with"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.06418","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1706.06418","created_at":"2026-05-18T00:42:03.286104+00:00"},{"alias_kind":"arxiv_version","alias_value":"1706.06418v1","created_at":"2026-05-18T00:42:03.286104+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.06418","created_at":"2026-05-18T00:42:03.286104+00:00"},{"alias_kind":"pith_short_12","alias_value":"7J7ECWUC4KZQ","created_at":"2026-05-18T12:31:05.417338+00:00"},{"alias_kind":"pith_short_16","alias_value":"7J7ECWUC4KZQNHT4","created_at":"2026-05-18T12:31:05.417338+00:00"},{"alias_kind":"pith_short_8","alias_value":"7J7ECWUC","created_at":"2026-05-18T12:31:05.417338+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/7J7ECWUC4KZQNHT4LFAUEHSL2I","json":"https://pith.science/pith/7J7ECWUC4KZQNHT4LFAUEHSL2I.json","graph_json":"https://pith.science/api/pith-number/7J7ECWUC4KZQNHT4LFAUEHSL2I/graph.json","events_json":"https://pith.science/api/pith-number/7J7ECWUC4KZQNHT4LFAUEHSL2I/events.json","paper":"https://pith.science/paper/7J7ECWUC"},"agent_actions":{"view_html":"https://pith.science/pith/7J7ECWUC4KZQNHT4LFAUEHSL2I","download_json":"https://pith.science/pith/7J7ECWUC4KZQNHT4LFAUEHSL2I.json","view_paper":"https://pith.science/paper/7J7ECWUC","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1706.06418&json=true","fetch_graph":"https://pith.science/api/pith-number/7J7ECWUC4KZQNHT4LFAUEHSL2I/graph.json","fetch_events":"https://pith.science/api/pith-number/7J7ECWUC4KZQNHT4LFAUEHSL2I/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/7J7ECWUC4KZQNHT4LFAUEHSL2I/action/timestamp_anchor","attest_storage":"https://pith.science/pith/7J7ECWUC4KZQNHT4LFAUEHSL2I/action/storage_attestation","attest_author":"https://pith.science/pith/7J7ECWUC4KZQNHT4LFAUEHSL2I/action/author_attestation","sign_citation":"https://pith.science/pith/7J7ECWUC4KZQNHT4LFAUEHSL2I/action/citation_signature","submit_replication":"https://pith.science/pith/7J7ECWUC4KZQNHT4LFAUEHSL2I/action/replication_record"}},"created_at":"2026-05-18T00:42:03.286104+00:00","updated_at":"2026-05-18T00:42:03.286104+00:00"}