{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:BDDCPMOVM4PTPC4FAZ4PENEOBS","short_pith_number":"pith:BDDCPMOV","schema_version":"1.0","canonical_sha256":"08c627b1d5671f378b850678f2348e0c8acd04506f2508a4577a55e32b41f5f8","source":{"kind":"arxiv","id":"1703.10337","version":1},"attestation_state":"computed","paper":{"title":"Online Adaptation for Humanoids Walking On Uncertain Surfaces","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aghil Yousefi-Koma, Hessam Maleki, Majid Khadiv, Majid Sadedel, S. Ali. A. Moosavian","submitted_at":"2017-03-30T07:42:43Z","abstract_excerpt":"In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the dynamic balance and slippage avoidance constraints, and also to guarantee smooth landing of the swing foot. To ensure smooth landing of the swing foot on surfaces with height uncertainty, the preplanned trajectories in the task space should be adapted. The proposed adaptation algorithm consists of two stages. In the first stage, once the swing foot reaches i"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1703.10337","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-03-30T07:42:43Z","cross_cats_sorted":[],"title_canon_sha256":"8c78214c479b6d760b8420fe85dd0a66ab4a28726a123bfe261b7f2533a09669","abstract_canon_sha256":"4f67bef236cee2a921f9c711407c6ffb28418645da9a4e3ecc9a355acf5a30d8"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:47:37.340969Z","signature_b64":"aKzTzT/cxmBedsHOflf/+Ms9USkxeM+g8CihShi43z0HdlrjOAHeyGCnAunHVb2/R6A1HSQpu5ZiKwukN4N2Ag==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"08c627b1d5671f378b850678f2348e0c8acd04506f2508a4577a55e32b41f5f8","last_reissued_at":"2026-05-18T00:47:37.340302Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:47:37.340302Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Online Adaptation for Humanoids Walking On Uncertain Surfaces","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aghil Yousefi-Koma, Hessam Maleki, Majid Khadiv, Majid Sadedel, S. Ali. A. Moosavian","submitted_at":"2017-03-30T07:42:43Z","abstract_excerpt":"In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the dynamic balance and slippage avoidance constraints, and also to guarantee smooth landing of the swing foot. To ensure smooth landing of the swing foot on surfaces with height uncertainty, the preplanned trajectories in the task space should be adapted. The proposed adaptation algorithm consists of two stages. In the first stage, once the swing foot reaches i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.10337","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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1703.10337","created_at":"2026-05-18T00:47:37.340421+00:00"},{"alias_kind":"arxiv_version","alias_value":"1703.10337v1","created_at":"2026-05-18T00:47:37.340421+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1703.10337","created_at":"2026-05-18T00:47:37.340421+00:00"},{"alias_kind":"pith_short_12","alias_value":"BDDCPMOVM4PT","created_at":"2026-05-18T12:31:08.081275+00:00"},{"alias_kind":"pith_short_16","alias_value":"BDDCPMOVM4PTPC4F","created_at":"2026-05-18T12:31:08.081275+00:00"},{"alias_kind":"pith_short_8","alias_value":"BDDCPMOV","created_at":"2026-05-18T12:31:08.081275+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/BDDCPMOVM4PTPC4FAZ4PENEOBS","json":"https://pith.science/pith/BDDCPMOVM4PTPC4FAZ4PENEOBS.json","graph_json":"https://pith.science/api/pith-number/BDDCPMOVM4PTPC4FAZ4PENEOBS/graph.json","events_json":"https://pith.science/api/pith-number/BDDCPMOVM4PTPC4FAZ4PENEOBS/events.json","paper":"https://pith.science/paper/BDDCPMOV"},"agent_actions":{"view_html":"https://pith.science/pith/BDDCPMOVM4PTPC4FAZ4PENEOBS","download_json":"https://pith.science/pith/BDDCPMOVM4PTPC4FAZ4PENEOBS.json","view_paper":"https://pith.science/paper/BDDCPMOV","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1703.10337&json=true","fetch_graph":"https://pith.science/api/pith-number/BDDCPMOVM4PTPC4FAZ4PENEOBS/graph.json","fetch_events":"https://pith.science/api/pith-number/BDDCPMOVM4PTPC4FAZ4PENEOBS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/BDDCPMOVM4PTPC4FAZ4PENEOBS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/BDDCPMOVM4PTPC4FAZ4PENEOBS/action/storage_attestation","attest_author":"https://pith.science/pith/BDDCPMOVM4PTPC4FAZ4PENEOBS/action/author_attestation","sign_citation":"https://pith.science/pith/BDDCPMOVM4PTPC4FAZ4PENEOBS/action/citation_signature","submit_replication":"https://pith.science/pith/BDDCPMOVM4PTPC4FAZ4PENEOBS/action/replication_record"}},"created_at":"2026-05-18T00:47:37.340421+00:00","updated_at":"2026-05-18T00:47:37.340421+00:00"}