Pith Number

pith:7TGWF3MY

pith:2026:7TGWF3MYE2ULHEUOTSPFIKD3RZ

not attested not anchored not stored refs pending

SPiralRoll: A Novel Adjustable-Stiffness Underactuated 3-DoF Joint with Torsion Springs for Rolling Robots

and Seyed Amir Tafrishi, George Ripper, Louis Keith

arxiv:2606.22443 v1 · 2026-06-21 · 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{7TGWF3MYE2ULHEUOTSPFIKD3RZ}

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.

Receipt and verification

First computed	2026-06-23T02:13:38.555881Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fccd62ed9826a8b3928e9c9e54287b8e5a09cc0a426c75fbfb5295d67284ec1d

Aliases

arxiv: 2606.22443 · arxiv_version: 2606.22443v1 · doi: 10.48550/arxiv.2606.22443 · pith_short_12: 7TGWF3MYE2UL · pith_short_16: 7TGWF3MYE2ULHEUO · pith_short_8: 7TGWF3MY

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/7TGWF3MYE2ULHEUOTSPFIKD3RZ \
  | 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: fccd62ed9826a8b3928e9c9e54287b8e5a09cc0a426c75fbfb5295d67284ec1d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d7967d13732437857f214802cbd40efa1d5b8deae7e3e7b00db992b54f399e8e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-21T11:27:50Z",
    "title_canon_sha256": "af470db60f05647ee5ba63b1be8062d62e7321621a2551cdb19274e8e6cc9ded"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.22443",
    "kind": "arxiv",
    "version": 1
  }
}