{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:BS4ET4W7FZBNBBX5IFKE7BAKMP","short_pith_number":"pith:BS4ET4W7","schema_version":"1.0","canonical_sha256":"0cb849f2df2e42d086fd41544f840a63f15c28796d95d5545293bf27ce7cf3fb","source":{"kind":"arxiv","id":"2110.10022","version":2},"attestation_state":"computed","paper":{"title":"Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andrew P. Sabelhaus, Carmel Majidi, Zach J. Patterson","submitted_at":"2021-10-19T14:42:53Z","abstract_excerpt":"Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and constraints, both of which are present in shape-memory-alloy (SMA)-powered soft robots. This article addresses both concerns with a robust feedback control scheme, demonstrating state tracking control for a soft robot manipulator of this type. Our controller uses a static beam bending model to approximate the soft limb as an LTI system, alongside a singular-value-d"},"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":"2110.10022","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-19T14:42:53Z","cross_cats_sorted":[],"title_canon_sha256":"9bfa4c814316992bc29f3a5bd85da5e56367637e3332a101ab1f268b824b6ee8","abstract_canon_sha256":"eb0954abf66af1d5cab81db9677f4924aaedf38afda2bbd1c7d2cbf67db44a15"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:26:11.880988Z","signature_b64":"eZVIxKkHfvGN4m89SvyHpi9fT6jJ+sP9Wo92NHRpD7yNnQDPZqtAccS0W3tZlTa7Qw4bFQGgdp4dF7Dy0K1iBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0cb849f2df2e42d086fd41544f840a63f15c28796d95d5545293bf27ce7cf3fb","last_reissued_at":"2026-07-05T09:26:11.880545Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:26:11.880545Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andrew P. Sabelhaus, Carmel Majidi, Zach J. Patterson","submitted_at":"2021-10-19T14:42:53Z","abstract_excerpt":"Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and constraints, both of which are present in shape-memory-alloy (SMA)-powered soft robots. This article addresses both concerns with a robust feedback control scheme, demonstrating state tracking control for a soft robot manipulator of this type. Our controller uses a static beam bending model to approximate the soft limb as an LTI system, alongside a singular-value-d"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.10022","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2110.10022/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2110.10022","created_at":"2026-07-05T09:26:11.880608+00:00"},{"alias_kind":"arxiv_version","alias_value":"2110.10022v2","created_at":"2026-07-05T09:26:11.880608+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.10022","created_at":"2026-07-05T09:26:11.880608+00:00"},{"alias_kind":"pith_short_12","alias_value":"BS4ET4W7FZBN","created_at":"2026-07-05T09:26:11.880608+00:00"},{"alias_kind":"pith_short_16","alias_value":"BS4ET4W7FZBNBBX5","created_at":"2026-07-05T09:26:11.880608+00:00"},{"alias_kind":"pith_short_8","alias_value":"BS4ET4W7","created_at":"2026-07-05T09:26:11.880608+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/BS4ET4W7FZBNBBX5IFKE7BAKMP","json":"https://pith.science/pith/BS4ET4W7FZBNBBX5IFKE7BAKMP.json","graph_json":"https://pith.science/api/pith-number/BS4ET4W7FZBNBBX5IFKE7BAKMP/graph.json","events_json":"https://pith.science/api/pith-number/BS4ET4W7FZBNBBX5IFKE7BAKMP/events.json","paper":"https://pith.science/paper/BS4ET4W7"},"agent_actions":{"view_html":"https://pith.science/pith/BS4ET4W7FZBNBBX5IFKE7BAKMP","download_json":"https://pith.science/pith/BS4ET4W7FZBNBBX5IFKE7BAKMP.json","view_paper":"https://pith.science/paper/BS4ET4W7","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2110.10022&json=true","fetch_graph":"https://pith.science/api/pith-number/BS4ET4W7FZBNBBX5IFKE7BAKMP/graph.json","fetch_events":"https://pith.science/api/pith-number/BS4ET4W7FZBNBBX5IFKE7BAKMP/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/BS4ET4W7FZBNBBX5IFKE7BAKMP/action/timestamp_anchor","attest_storage":"https://pith.science/pith/BS4ET4W7FZBNBBX5IFKE7BAKMP/action/storage_attestation","attest_author":"https://pith.science/pith/BS4ET4W7FZBNBBX5IFKE7BAKMP/action/author_attestation","sign_citation":"https://pith.science/pith/BS4ET4W7FZBNBBX5IFKE7BAKMP/action/citation_signature","submit_replication":"https://pith.science/pith/BS4ET4W7FZBNBBX5IFKE7BAKMP/action/replication_record"}},"created_at":"2026-07-05T09:26:11.880608+00:00","updated_at":"2026-07-05T09:26:11.880608+00:00"}