{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:BZKAD35R2L2H33XLL76464MRJF","short_pith_number":"pith:BZKAD35R","canonical_record":{"source":{"id":"1806.07349","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-19T17:02:30Z","cross_cats_sorted":[],"title_canon_sha256":"0ecddae97f4f3d853ef1e890f07ae27ac51af857339429a55087dba97b810fe0","abstract_canon_sha256":"5a7c808a5ef7ea081c4ea4ed6614bf445a8c0662da0fafd24c02c3acb1a67ba0"},"schema_version":"1.0"},"canonical_sha256":"0e5401efb1d2f47deeeb5ffdcf719149649425c5262f72237c2cfac04035b4f0","source":{"kind":"arxiv","id":"1806.07349","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1806.07349","created_at":"2026-05-18T00:12:51Z"},{"alias_kind":"arxiv_version","alias_value":"1806.07349v1","created_at":"2026-05-18T00:12:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.07349","created_at":"2026-05-18T00:12:51Z"},{"alias_kind":"pith_short_12","alias_value":"BZKAD35R2L2H","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"BZKAD35R2L2H33XL","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"BZKAD35R","created_at":"2026-05-18T12:32:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:BZKAD35R2L2H33XLL76464MRJF","target":"record","payload":{"canonical_record":{"source":{"id":"1806.07349","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-19T17:02:30Z","cross_cats_sorted":[],"title_canon_sha256":"0ecddae97f4f3d853ef1e890f07ae27ac51af857339429a55087dba97b810fe0","abstract_canon_sha256":"5a7c808a5ef7ea081c4ea4ed6614bf445a8c0662da0fafd24c02c3acb1a67ba0"},"schema_version":"1.0"},"canonical_sha256":"0e5401efb1d2f47deeeb5ffdcf719149649425c5262f72237c2cfac04035b4f0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:12:51.258018Z","signature_b64":"USF0SGMRlWIMFgnBcsm3CMeHn9j9AXRYiiSKJrXDYsSATOEjXwy/KjTxgktzIAuFHjUFfHtCukaGeda8USW0DA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0e5401efb1d2f47deeeb5ffdcf719149649425c5262f72237c2cfac04035b4f0","last_reissued_at":"2026-05-18T00:12:51.257434Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:12:51.257434Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1806.07349","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":"2026-05-18T00:12:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JAkom+uO+vKHkREfcN4yXHU97hy8/pCILWG7qnu6xEoS6fvqrwZ2+YKsl8C6SXFuy5IOu7DVghmztyPmLOzdCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T13:10:16.213999Z"},"content_sha256":"a9e34e350060b944924956b97f8aa37278ace3108a8388c77ebd6cee9faa6fe3","schema_version":"1.0","event_id":"sha256:a9e34e350060b944924956b97f8aa37278ace3108a8388c77ebd6cee9faa6fe3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:BZKAD35R2L2H33XLL76464MRJF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Motion Planning for a Humanoid Mobile Manipulator System","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ahmed Rahmani, Qiang Zhan, Wei Jiang, Yan Wei","submitted_at":"2018-06-19T17:02:30Z","abstract_excerpt":"A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize \"human-like\" autonomous navigation and manipulation tasks is studied. Firstly, an improved MaxiMin NSGA-II algorithm, which optimizes five objective functions to solve the problems of singularity, redundancy, and coupling between mobile base and manipulator simultaneously, is proposed to design the optimal pose to manipulate the target object. Then, in order to link the initial pose and that optimal pose, an off-line motion planning algorithm is designed. I"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.07349","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":"2026-05-18T00:12:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GAm7Z/w9Q3pGWSN6XMeMZ0nafTX71QOQVGmyykSV3RbL8VY8Z7pwaIB2UtQAxasVczzWBk7pzeBfF7KT2pp1CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T13:10:16.214358Z"},"content_sha256":"e64905fee8d63795ddb3576b2f86debdec1cba721486d591944f8e3b8cdf7f7c","schema_version":"1.0","event_id":"sha256:e64905fee8d63795ddb3576b2f86debdec1cba721486d591944f8e3b8cdf7f7c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BZKAD35R2L2H33XLL76464MRJF/bundle.json","state_url":"https://pith.science/pith/BZKAD35R2L2H33XLL76464MRJF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BZKAD35R2L2H33XLL76464MRJF/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":"2026-05-28T13:10:16Z","links":{"resolver":"https://pith.science/pith/BZKAD35R2L2H33XLL76464MRJF","bundle":"https://pith.science/pith/BZKAD35R2L2H33XLL76464MRJF/bundle.json","state":"https://pith.science/pith/BZKAD35R2L2H33XLL76464MRJF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BZKAD35R2L2H33XLL76464MRJF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:BZKAD35R2L2H33XLL76464MRJF","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":"5a7c808a5ef7ea081c4ea4ed6614bf445a8c0662da0fafd24c02c3acb1a67ba0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-19T17:02:30Z","title_canon_sha256":"0ecddae97f4f3d853ef1e890f07ae27ac51af857339429a55087dba97b810fe0"},"schema_version":"1.0","source":{"id":"1806.07349","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1806.07349","created_at":"2026-05-18T00:12:51Z"},{"alias_kind":"arxiv_version","alias_value":"1806.07349v1","created_at":"2026-05-18T00:12:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.07349","created_at":"2026-05-18T00:12:51Z"},{"alias_kind":"pith_short_12","alias_value":"BZKAD35R2L2H","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"BZKAD35R2L2H33XL","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"BZKAD35R","created_at":"2026-05-18T12:32:16Z"}],"graph_snapshots":[{"event_id":"sha256:e64905fee8d63795ddb3576b2f86debdec1cba721486d591944f8e3b8cdf7f7c","target":"graph","created_at":"2026-05-18T00:12:51Z","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":"A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize \"human-like\" autonomous navigation and manipulation tasks is studied. Firstly, an improved MaxiMin NSGA-II algorithm, which optimizes five objective functions to solve the problems of singularity, redundancy, and coupling between mobile base and manipulator simultaneously, is proposed to design the optimal pose to manipulate the target object. Then, in order to link the initial pose and that optimal pose, an off-line motion planning algorithm is designed. I","authors_text":"Ahmed Rahmani, Qiang Zhan, Wei Jiang, Yan Wei","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-19T17:02:30Z","title":"Motion Planning for a Humanoid Mobile Manipulator System"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.07349","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:a9e34e350060b944924956b97f8aa37278ace3108a8388c77ebd6cee9faa6fe3","target":"record","created_at":"2026-05-18T00:12:51Z","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":"5a7c808a5ef7ea081c4ea4ed6614bf445a8c0662da0fafd24c02c3acb1a67ba0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-19T17:02:30Z","title_canon_sha256":"0ecddae97f4f3d853ef1e890f07ae27ac51af857339429a55087dba97b810fe0"},"schema_version":"1.0","source":{"id":"1806.07349","kind":"arxiv","version":1}},"canonical_sha256":"0e5401efb1d2f47deeeb5ffdcf719149649425c5262f72237c2cfac04035b4f0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0e5401efb1d2f47deeeb5ffdcf719149649425c5262f72237c2cfac04035b4f0","first_computed_at":"2026-05-18T00:12:51.257434Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:12:51.257434Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"USF0SGMRlWIMFgnBcsm3CMeHn9j9AXRYiiSKJrXDYsSATOEjXwy/KjTxgktzIAuFHjUFfHtCukaGeda8USW0DA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:12:51.258018Z","signed_message":"canonical_sha256_bytes"},"source_id":"1806.07349","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a9e34e350060b944924956b97f8aa37278ace3108a8388c77ebd6cee9faa6fe3","sha256:e64905fee8d63795ddb3576b2f86debdec1cba721486d591944f8e3b8cdf7f7c"],"state_sha256":"2e607d5237366260c096556c1c1a15d69c023667a2cf2d5c3b914a14b34fa348"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NrvogY29JLxJtwjYuBxOX430Xqu5iM6qLeW24Af1lT92/Cz8dKyb/ZxjHdszV9GHhZCEUntOgIa2a2zSKliqCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T13:10:16.216341Z","bundle_sha256":"02ed43f95aa83aa962df44158564e359c0684998654933c569bd6cf8820e44d9"}}