{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:ACBXKVHZEBJPT5MNN2LKM5LRVN","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":"583fbd236d3e69d665e2ced11b995a349c2466b95dd8e05cf437b3e3d031e5af","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"cs.RO","submitted_at":"2014-10-16T13:15:37Z","title_canon_sha256":"20758b8c7a3f4283f6b16d40c9330fdf88d504afa0d7c2ef396cab57af0acd4d"},"schema_version":"1.0","source":{"id":"1410.4410","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1410.4410","created_at":"2026-05-18T01:01:42Z"},{"alias_kind":"arxiv_version","alias_value":"1410.4410v1","created_at":"2026-05-18T01:01:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1410.4410","created_at":"2026-05-18T01:01:42Z"},{"alias_kind":"pith_short_12","alias_value":"ACBXKVHZEBJP","created_at":"2026-05-18T12:28:19Z"},{"alias_kind":"pith_short_16","alias_value":"ACBXKVHZEBJPT5MN","created_at":"2026-05-18T12:28:19Z"},{"alias_kind":"pith_short_8","alias_value":"ACBXKVHZ","created_at":"2026-05-18T12:28:19Z"}],"graph_snapshots":[{"event_id":"sha256:678e3922850d3a2d593cae84335594f4a166281b8c9a1e154764d487e11a1f5c","target":"graph","created_at":"2026-05-18T01:01:42Z","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":"Identification of inertial parameters is fundamental for the implementation of torque-based control in humanoids. At the same time, good models of friction and actuator dynamics are critical for the low-level control of joint torques. We propose a novel method to identify inertial, friction and motor parameters in a single procedure. The identification exploits the measurements of the PWM of the DC motors and a 6-axis force/torque sensor mounted inside the kinematic chain. The partial least-square (PLS) method is used to perform the regression. We identified the inertial, friction and motor pa","authors_text":"Andrea Del Prete, Francesco Nori, Lorenzo Natale, Riccardo Muradore, Silvio Traversaro","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"cs.RO","submitted_at":"2014-10-16T13:15:37Z","title":"Inertial Parameter Identification Including Friction and Motor Dynamics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1410.4410","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":"sha256:0684bed001c04068c2d7132f052e20fa1051b048b476ea266450dc5d6a5d9426","target":"record","created_at":"2026-05-18T01:01:42Z","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":"583fbd236d3e69d665e2ced11b995a349c2466b95dd8e05cf437b3e3d031e5af","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"cs.RO","submitted_at":"2014-10-16T13:15:37Z","title_canon_sha256":"20758b8c7a3f4283f6b16d40c9330fdf88d504afa0d7c2ef396cab57af0acd4d"},"schema_version":"1.0","source":{"id":"1410.4410","kind":"arxiv","version":1}},"canonical_sha256":"00837554f92052f9f58d6e96a67571ab60d1cc263cf5c631dfad074911fb2c29","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"00837554f92052f9f58d6e96a67571ab60d1cc263cf5c631dfad074911fb2c29","first_computed_at":"2026-05-18T01:01:42.493584Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:01:42.493584Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GxkZDxXotGzAqmehdBE0yr9b61PHfdXqVWkYVTfwyjWXi9kggDlqXlixWL3SBGcE00y/nAFgroksKvan0W8qDw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:01:42.494220Z","signed_message":"canonical_sha256_bytes"},"source_id":"1410.4410","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0684bed001c04068c2d7132f052e20fa1051b048b476ea266450dc5d6a5d9426","sha256:678e3922850d3a2d593cae84335594f4a166281b8c9a1e154764d487e11a1f5c"],"state_sha256":"b7af756c9d643e121b990b07d794ea816bba62647c60a05ca16899afad829c70"}