{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2015:7L4CJUY3D77IT75RVRGVXM5QJX","short_pith_number":"pith:7L4CJUY3","schema_version":"1.0","canonical_sha256":"faf824d31b1ffe89ffb1ac4d5bb3b04df9a7e14d394d86b3d9487fc8fd3776de","source":{"kind":"arxiv","id":"1501.02855","version":1},"attestation_state":"computed","paper":{"title":"Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Donghyun Kim, Gray Thomas, Luis Sentis, Ye Zhao","submitted_at":"2015-01-13T00:17:39Z","abstract_excerpt":"In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), developed a few years ago, is well suited for achieving two types of agile behaviors, namely, balancing on a high pitch split terrain and achieving undirected walking on flat terrain. The work presented here is the first implementation of WBOSC on a biped robot, and more specifically a biped robot with series elastic actuators. We present and analyze a new algorithm that dynamically balances point foot robots by choos"},"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":"1501.02855","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-01-13T00:17:39Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"2828889c23f91e19b991b20127f11b484726513b38cb7b380fd4f09387e9d4dc","abstract_canon_sha256":"67d4b9417c7d8c76cce4552ea1e23759e48670406137eaad13fd7393d405809f"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:29:31.073625Z","signature_b64":"AHptuo5PGo/HJ90MzAh1ttavo54wHtb6H0K0oHIaDNUaMqeEk0X1Mb1sG+/Oj9kLP10DrH6xBR1lEoD0Nk7QDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"faf824d31b1ffe89ffb1ac4d5bb3b04df9a7e14d394d86b3d9487fc8fd3776de","last_reissued_at":"2026-05-18T02:29:31.073224Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:29:31.073224Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Donghyun Kim, Gray Thomas, Luis Sentis, Ye Zhao","submitted_at":"2015-01-13T00:17:39Z","abstract_excerpt":"In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), developed a few years ago, is well suited for achieving two types of agile behaviors, namely, balancing on a high pitch split terrain and achieving undirected walking on flat terrain. The work presented here is the first implementation of WBOSC on a biped robot, and more specifically a biped robot with series elastic actuators. We present and analyze a new algorithm that dynamically balances point foot robots by choos"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1501.02855","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":"1501.02855","created_at":"2026-05-18T02:29:31.073284+00:00"},{"alias_kind":"arxiv_version","alias_value":"1501.02855v1","created_at":"2026-05-18T02:29:31.073284+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1501.02855","created_at":"2026-05-18T02:29:31.073284+00:00"},{"alias_kind":"pith_short_12","alias_value":"7L4CJUY3D77I","created_at":"2026-05-18T12:29:10.953037+00:00"},{"alias_kind":"pith_short_16","alias_value":"7L4CJUY3D77IT75R","created_at":"2026-05-18T12:29:10.953037+00:00"},{"alias_kind":"pith_short_8","alias_value":"7L4CJUY3","created_at":"2026-05-18T12:29:10.953037+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/7L4CJUY3D77IT75RVRGVXM5QJX","json":"https://pith.science/pith/7L4CJUY3D77IT75RVRGVXM5QJX.json","graph_json":"https://pith.science/api/pith-number/7L4CJUY3D77IT75RVRGVXM5QJX/graph.json","events_json":"https://pith.science/api/pith-number/7L4CJUY3D77IT75RVRGVXM5QJX/events.json","paper":"https://pith.science/paper/7L4CJUY3"},"agent_actions":{"view_html":"https://pith.science/pith/7L4CJUY3D77IT75RVRGVXM5QJX","download_json":"https://pith.science/pith/7L4CJUY3D77IT75RVRGVXM5QJX.json","view_paper":"https://pith.science/paper/7L4CJUY3","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1501.02855&json=true","fetch_graph":"https://pith.science/api/pith-number/7L4CJUY3D77IT75RVRGVXM5QJX/graph.json","fetch_events":"https://pith.science/api/pith-number/7L4CJUY3D77IT75RVRGVXM5QJX/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/7L4CJUY3D77IT75RVRGVXM5QJX/action/timestamp_anchor","attest_storage":"https://pith.science/pith/7L4CJUY3D77IT75RVRGVXM5QJX/action/storage_attestation","attest_author":"https://pith.science/pith/7L4CJUY3D77IT75RVRGVXM5QJX/action/author_attestation","sign_citation":"https://pith.science/pith/7L4CJUY3D77IT75RVRGVXM5QJX/action/citation_signature","submit_replication":"https://pith.science/pith/7L4CJUY3D77IT75RVRGVXM5QJX/action/replication_record"}},"created_at":"2026-05-18T02:29:31.073284+00:00","updated_at":"2026-05-18T02:29:31.073284+00:00"}