{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:AU5HIGHGSWXJKFGK3R2HSK5UTW","short_pith_number":"pith:AU5HIGHG","canonical_record":{"source":{"id":"1904.03693","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-07T17:27:14Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"fd75a17cefcf8cee1796a8a955af739354ce9eb3e9121aa713832da4db367af2","abstract_canon_sha256":"ca909f44086c92bfda1dc45cf0aa8ba83e8c4344be245f200bb7bf349b751dd6"},"schema_version":"1.0"},"canonical_sha256":"053a7418e695ae9514cadc74792bb49db896f6033f28f1e460d321a6cbb292bb","source":{"kind":"arxiv","id":"1904.03693","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.03693","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"arxiv_version","alias_value":"1904.03693v1","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.03693","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"pith_short_12","alias_value":"AU5HIGHGSWXJ","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"AU5HIGHGSWXJKFGK","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"AU5HIGHG","created_at":"2026-05-18T12:33:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:AU5HIGHGSWXJKFGK3R2HSK5UTW","target":"record","payload":{"canonical_record":{"source":{"id":"1904.03693","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-07T17:27:14Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"fd75a17cefcf8cee1796a8a955af739354ce9eb3e9121aa713832da4db367af2","abstract_canon_sha256":"ca909f44086c92bfda1dc45cf0aa8ba83e8c4344be245f200bb7bf349b751dd6"},"schema_version":"1.0"},"canonical_sha256":"053a7418e695ae9514cadc74792bb49db896f6033f28f1e460d321a6cbb292bb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:49:12.493156Z","signature_b64":"k2HXUWjMYeuYvxc6YXQ5O9wmMkQZfXL1fjQtphhn3+uG7fqi/a1wOKYexubUw9rLykjMaoo1xdCMXtF7yAVDDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"053a7418e695ae9514cadc74792bb49db896f6033f28f1e460d321a6cbb292bb","last_reissued_at":"2026-05-17T23:49:12.492464Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:49:12.492464Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1904.03693","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":"2026-05-17T23:49:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"71MYUSYr6ZMH0l5eX9aUz8BFo/B3eqz991WUi/sN7kiJZBvpLxFfAvRMeN1PJ5z/+DrvBNWDr0lkLoqm7yJuBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T09:21:10.944971Z"},"content_sha256":"a22a471c9ad06236df5726c3a93b6897f5971608d5408a7f06f172731ee36b58","schema_version":"1.0","event_id":"sha256:a22a471c9ad06236df5726c3a93b6897f5971608d5408a7f06f172731ee36b58"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:AU5HIGHGSWXJKFGK3R2HSK5UTW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On-line and on-board planning and perception for quadrupedal locomotion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Alexander W. Winkler, Carlos Mastalli, Claudio Semini, Darwin G. Caldwell, Ioannis Havoutis","submitted_at":"2019-04-07T17:27:14Z","abstract_excerpt":"We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A* (ARA*) search that guarantees bounded subo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.03693","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":"2026-05-17T23:49:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Grpxi//ILE9JoNaf0TgLXmkyRhEjcgCNMx8hWVezF4K65cn+3Eo030OgIPGYS9w35hyINkMz4/j5pwztvyqbCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T09:21:10.945637Z"},"content_sha256":"ba38578c2aadbbe7adc2468ad0d479daab40a31e118de455563108939571f4f0","schema_version":"1.0","event_id":"sha256:ba38578c2aadbbe7adc2468ad0d479daab40a31e118de455563108939571f4f0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AU5HIGHGSWXJKFGK3R2HSK5UTW/bundle.json","state_url":"https://pith.science/pith/AU5HIGHGSWXJKFGK3R2HSK5UTW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AU5HIGHGSWXJKFGK3R2HSK5UTW/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":"2026-05-30T09:21:10Z","links":{"resolver":"https://pith.science/pith/AU5HIGHGSWXJKFGK3R2HSK5UTW","bundle":"https://pith.science/pith/AU5HIGHGSWXJKFGK3R2HSK5UTW/bundle.json","state":"https://pith.science/pith/AU5HIGHGSWXJKFGK3R2HSK5UTW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AU5HIGHGSWXJKFGK3R2HSK5UTW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:AU5HIGHGSWXJKFGK3R2HSK5UTW","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":"ca909f44086c92bfda1dc45cf0aa8ba83e8c4344be245f200bb7bf349b751dd6","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-07T17:27:14Z","title_canon_sha256":"fd75a17cefcf8cee1796a8a955af739354ce9eb3e9121aa713832da4db367af2"},"schema_version":"1.0","source":{"id":"1904.03693","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.03693","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"arxiv_version","alias_value":"1904.03693v1","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.03693","created_at":"2026-05-17T23:49:12Z"},{"alias_kind":"pith_short_12","alias_value":"AU5HIGHGSWXJ","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"AU5HIGHGSWXJKFGK","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"AU5HIGHG","created_at":"2026-05-18T12:33:12Z"}],"graph_snapshots":[{"event_id":"sha256:ba38578c2aadbbe7adc2468ad0d479daab40a31e118de455563108939571f4f0","target":"graph","created_at":"2026-05-17T23:49:12Z","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":"We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A* (ARA*) search that guarantees bounded subo","authors_text":"Alexander W. Winkler, Carlos Mastalli, Claudio Semini, Darwin G. Caldwell, Ioannis Havoutis","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-07T17:27:14Z","title":"On-line and on-board planning and perception for quadrupedal locomotion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.03693","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:a22a471c9ad06236df5726c3a93b6897f5971608d5408a7f06f172731ee36b58","target":"record","created_at":"2026-05-17T23:49:12Z","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":"ca909f44086c92bfda1dc45cf0aa8ba83e8c4344be245f200bb7bf349b751dd6","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-07T17:27:14Z","title_canon_sha256":"fd75a17cefcf8cee1796a8a955af739354ce9eb3e9121aa713832da4db367af2"},"schema_version":"1.0","source":{"id":"1904.03693","kind":"arxiv","version":1}},"canonical_sha256":"053a7418e695ae9514cadc74792bb49db896f6033f28f1e460d321a6cbb292bb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"053a7418e695ae9514cadc74792bb49db896f6033f28f1e460d321a6cbb292bb","first_computed_at":"2026-05-17T23:49:12.492464Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:49:12.492464Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k2HXUWjMYeuYvxc6YXQ5O9wmMkQZfXL1fjQtphhn3+uG7fqi/a1wOKYexubUw9rLykjMaoo1xdCMXtF7yAVDDg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:49:12.493156Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.03693","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a22a471c9ad06236df5726c3a93b6897f5971608d5408a7f06f172731ee36b58","sha256:ba38578c2aadbbe7adc2468ad0d479daab40a31e118de455563108939571f4f0"],"state_sha256":"783ea9cc5364a4ff2c211e4e9be125def751632b8a36dbeb56610aa03a21276e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+uKxY2qWnKUdLLfSdQF1uArOtkLBowLnvjIDCqdyvE0OjmtEknvroBzMKlStbTCCncZ4WfePnJnxXASgF/o/Cg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T09:21:10.949325Z","bundle_sha256":"c822a5d1482d4c74bed73058ade66b1699111b2eb036a37078c5ba4d72ea018b"}}