{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:7SY4OT5RWY6YQHGMKVUJMFTNVE","short_pith_number":"pith:7SY4OT5R","canonical_record":{"source":{"id":"1509.06110","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-21T04:44:26Z","cross_cats_sorted":[],"title_canon_sha256":"e8b2ea10f89fdc5d4fe2a9ac9c495e39996e67aa4213ed52605f7157cf4f0a1c","abstract_canon_sha256":"d80216e10d45a7e0ba2d95d400758d577702c50638f5cff86963272a34922876"},"schema_version":"1.0"},"canonical_sha256":"fcb1c74fb1b63d881ccc556896166da9328b06f32e245b0a7d7ddae59425d7ee","source":{"kind":"arxiv","id":"1509.06110","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1509.06110","created_at":"2026-05-18T01:32:35Z"},{"alias_kind":"arxiv_version","alias_value":"1509.06110v1","created_at":"2026-05-18T01:32:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1509.06110","created_at":"2026-05-18T01:32:35Z"},{"alias_kind":"pith_short_12","alias_value":"7SY4OT5RWY6Y","created_at":"2026-05-18T12:29:10Z"},{"alias_kind":"pith_short_16","alias_value":"7SY4OT5RWY6YQHGM","created_at":"2026-05-18T12:29:10Z"},{"alias_kind":"pith_short_8","alias_value":"7SY4OT5R","created_at":"2026-05-18T12:29:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:7SY4OT5RWY6YQHGMKVUJMFTNVE","target":"record","payload":{"canonical_record":{"source":{"id":"1509.06110","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-21T04:44:26Z","cross_cats_sorted":[],"title_canon_sha256":"e8b2ea10f89fdc5d4fe2a9ac9c495e39996e67aa4213ed52605f7157cf4f0a1c","abstract_canon_sha256":"d80216e10d45a7e0ba2d95d400758d577702c50638f5cff86963272a34922876"},"schema_version":"1.0"},"canonical_sha256":"fcb1c74fb1b63d881ccc556896166da9328b06f32e245b0a7d7ddae59425d7ee","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:32:35.793595Z","signature_b64":"OXIMwCaq4E5hy/if35exMziImXt0Z/sBPqm+wpXxm8apfId4j5OAbNKFmUjCfPofrg69us4Za0IYszjSd2CpDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fcb1c74fb1b63d881ccc556896166da9328b06f32e245b0a7d7ddae59425d7ee","last_reissued_at":"2026-05-18T01:32:35.792993Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:32:35.792993Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1509.06110","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":"2026-05-18T01:32:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IQWhYINA0Ovo/8GupQ06Z2src9YJIZjetJQth43RcZs9szPig4GYzi7Hcu7ddcKrIhN3a9ePL1KbtjyZjAtfCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T12:17:07.782029Z"},"content_sha256":"47a541ef5f026e1e530b22be271a7d7ddc40ef01f7dd84212e9e473f4181939b","schema_version":"1.0","event_id":"sha256:47a541ef5f026e1e530b22be271a7d7ddc40ef01f7dd84212e9e473f4181939b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:7SY4OT5RWY6YQHGMKVUJMFTNVE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Design, Modeling and Control of A Novel Amphibious Robot with Dual-swing-legs Propulsion Mechanism","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cheng Siyuan, Fu Mengyin, Yang Yi, Zhang Jianqing, Zhou Geng","submitted_at":"2015-09-21T04:44:26Z","abstract_excerpt":"This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomoti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1509.06110","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:32:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LhYxTOuNbR/qRnisLbEV7qPb0aM7yxadvimVz7+8B5DBV6lv4+JgSxbWqdKXniXjXRTRmIME1FXQnGMNrr25DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T12:17:07.782405Z"},"content_sha256":"7a12d5da89c6ee59c27ae0bbd019b28be069824c30cbbf437cbfab11d988571c","schema_version":"1.0","event_id":"sha256:7a12d5da89c6ee59c27ae0bbd019b28be069824c30cbbf437cbfab11d988571c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7SY4OT5RWY6YQHGMKVUJMFTNVE/bundle.json","state_url":"https://pith.science/pith/7SY4OT5RWY6YQHGMKVUJMFTNVE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7SY4OT5RWY6YQHGMKVUJMFTNVE/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":"2026-06-22T12:17:07Z","links":{"resolver":"https://pith.science/pith/7SY4OT5RWY6YQHGMKVUJMFTNVE","bundle":"https://pith.science/pith/7SY4OT5RWY6YQHGMKVUJMFTNVE/bundle.json","state":"https://pith.science/pith/7SY4OT5RWY6YQHGMKVUJMFTNVE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7SY4OT5RWY6YQHGMKVUJMFTNVE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:7SY4OT5RWY6YQHGMKVUJMFTNVE","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":"d80216e10d45a7e0ba2d95d400758d577702c50638f5cff86963272a34922876","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-21T04:44:26Z","title_canon_sha256":"e8b2ea10f89fdc5d4fe2a9ac9c495e39996e67aa4213ed52605f7157cf4f0a1c"},"schema_version":"1.0","source":{"id":"1509.06110","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1509.06110","created_at":"2026-05-18T01:32:35Z"},{"alias_kind":"arxiv_version","alias_value":"1509.06110v1","created_at":"2026-05-18T01:32:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1509.06110","created_at":"2026-05-18T01:32:35Z"},{"alias_kind":"pith_short_12","alias_value":"7SY4OT5RWY6Y","created_at":"2026-05-18T12:29:10Z"},{"alias_kind":"pith_short_16","alias_value":"7SY4OT5RWY6YQHGM","created_at":"2026-05-18T12:29:10Z"},{"alias_kind":"pith_short_8","alias_value":"7SY4OT5R","created_at":"2026-05-18T12:29:10Z"}],"graph_snapshots":[{"event_id":"sha256:7a12d5da89c6ee59c27ae0bbd019b28be069824c30cbbf437cbfab11d988571c","target":"graph","created_at":"2026-05-18T01:32:35Z","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"},"paper":{"abstract_excerpt":"This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomoti","authors_text":"Cheng Siyuan, Fu Mengyin, Yang Yi, Zhang Jianqing, Zhou Geng","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-21T04:44:26Z","title":"Design, Modeling and Control of A Novel Amphibious Robot with Dual-swing-legs Propulsion Mechanism"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1509.06110","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":"sha256:47a541ef5f026e1e530b22be271a7d7ddc40ef01f7dd84212e9e473f4181939b","target":"record","created_at":"2026-05-18T01:32:35Z","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":"d80216e10d45a7e0ba2d95d400758d577702c50638f5cff86963272a34922876","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-21T04:44:26Z","title_canon_sha256":"e8b2ea10f89fdc5d4fe2a9ac9c495e39996e67aa4213ed52605f7157cf4f0a1c"},"schema_version":"1.0","source":{"id":"1509.06110","kind":"arxiv","version":1}},"canonical_sha256":"fcb1c74fb1b63d881ccc556896166da9328b06f32e245b0a7d7ddae59425d7ee","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fcb1c74fb1b63d881ccc556896166da9328b06f32e245b0a7d7ddae59425d7ee","first_computed_at":"2026-05-18T01:32:35.792993Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:32:35.792993Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OXIMwCaq4E5hy/if35exMziImXt0Z/sBPqm+wpXxm8apfId4j5OAbNKFmUjCfPofrg69us4Za0IYszjSd2CpDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:32:35.793595Z","signed_message":"canonical_sha256_bytes"},"source_id":"1509.06110","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:47a541ef5f026e1e530b22be271a7d7ddc40ef01f7dd84212e9e473f4181939b","sha256:7a12d5da89c6ee59c27ae0bbd019b28be069824c30cbbf437cbfab11d988571c"],"state_sha256":"c2ee33d2fcafb032f2ef687443f93e9edac6c6751be7d66225aa3421481cd25d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8pjFOxLpw+I0Bp+nEczmIFs7UNKFMDGjHGZ2sDk54J1KXdrPUV4mTHUpDHhoKzMoUth3s1hnl71buxzBfkQ2Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-22T12:17:07.784288Z","bundle_sha256":"59effab6e3c68023860f95588038990c3090e710528e3e6fafb29e60b548e789"}}