Pith Number

pith:7QZCZMJU

pith:2022:7QZCZMJUWB2FEOU4Q5WVRL4XSQ

not attested not anchored not stored refs pending

Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position

Chase W. Mathews, David J. Braun, Evangelos Chatziandreou

arxiv:2212.07601 v2 · 2022-12-15 · 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{7QZCZMJUWB2FEOU4Q5WVRL4XSQ}

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.

Cited by

1 paper in Pith

Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring

Receipt and verification

First computed	2026-07-05T05:34:04.694408Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fc322cb134b074523a9c876d58af97941402e454447461d43016a2f28f7e4142

Aliases

arxiv: 2212.07601 · arxiv_version: 2212.07601v2 · doi: 10.48550/arxiv.2212.07601 · pith_short_12: 7QZCZMJUWB2F · pith_short_16: 7QZCZMJUWB2FEOU4 · pith_short_8: 7QZCZMJU

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/7QZCZMJUWB2FEOU4Q5WVRL4XSQ \
  | 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: fc322cb134b074523a9c876d58af97941402e454447461d43016a2f28f7e4142

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6b2f63cc05d1f4629b6b68399b08c3c9689198aa71dd24f02469315226220b49",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-12-15T03:06:43Z",
    "title_canon_sha256": "d5ee388b6fb26a3ce509ba977128da88d82c7a4b16a9a4c9fc4bbc8ba8cff155"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2212.07601",
    "kind": "arxiv",
    "version": 2
  }
}