{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:BS4ET4W7FZBNBBX5IFKE7BAKMP","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":"eb0954abf66af1d5cab81db9677f4924aaedf38afda2bbd1c7d2cbf67db44a15","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-19T14:42:53Z","title_canon_sha256":"9bfa4c814316992bc29f3a5bd85da5e56367637e3332a101ab1f268b824b6ee8"},"schema_version":"1.0","source":{"id":"2110.10022","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.10022","created_at":"2026-07-05T09:26:11Z"},{"alias_kind":"arxiv_version","alias_value":"2110.10022v2","created_at":"2026-07-05T09:26:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.10022","created_at":"2026-07-05T09:26:11Z"},{"alias_kind":"pith_short_12","alias_value":"BS4ET4W7FZBN","created_at":"2026-07-05T09:26:11Z"},{"alias_kind":"pith_short_16","alias_value":"BS4ET4W7FZBNBBX5","created_at":"2026-07-05T09:26:11Z"},{"alias_kind":"pith_short_8","alias_value":"BS4ET4W7","created_at":"2026-07-05T09:26:11Z"}],"graph_snapshots":[{"event_id":"sha256:d237f8d81ac2876a2d0187e1d99abbbc94b905aa75be48a4227d4aa4b09179b9","target":"graph","created_at":"2026-07-05T09:26:11Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2110.10022/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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","authors_text":"Andrew P. Sabelhaus, Carmel Majidi, Zach J. Patterson","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-19T14:42:53Z","title":"Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.10022","kind":"arxiv","version":2},"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":"sha256:29122c8e0efd3bfe39fdccfe2bd338d9e6cb8e1a885f2d510b4ad65d28b120fc","target":"record","created_at":"2026-07-05T09:26:11Z","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":"eb0954abf66af1d5cab81db9677f4924aaedf38afda2bbd1c7d2cbf67db44a15","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-19T14:42:53Z","title_canon_sha256":"9bfa4c814316992bc29f3a5bd85da5e56367637e3332a101ab1f268b824b6ee8"},"schema_version":"1.0","source":{"id":"2110.10022","kind":"arxiv","version":2}},"canonical_sha256":"0cb849f2df2e42d086fd41544f840a63f15c28796d95d5545293bf27ce7cf3fb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0cb849f2df2e42d086fd41544f840a63f15c28796d95d5545293bf27ce7cf3fb","first_computed_at":"2026-07-05T09:26:11.880545Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:26:11.880545Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eZVIxKkHfvGN4m89SvyHpi9fT6jJ+sP9Wo92NHRpD7yNnQDPZqtAccS0W3tZlTa7Qw4bFQGgdp4dF7Dy0K1iBA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:26:11.880988Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.10022","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:29122c8e0efd3bfe39fdccfe2bd338d9e6cb8e1a885f2d510b4ad65d28b120fc","sha256:d237f8d81ac2876a2d0187e1d99abbbc94b905aa75be48a4227d4aa4b09179b9"],"state_sha256":"b05d767c8fceff35224ece8edda9f0e0a4e905581f754fcc20ccb542158cfa95"}