{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:C3PATWP5EOJX57LIU75PXTBD4J","short_pith_number":"pith:C3PATWP5","canonical_record":{"source":{"id":"1607.08089","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-27T13:49:43Z","cross_cats_sorted":[],"title_canon_sha256":"5725f49ceb67550b8a19eece4a36a08c1a8bc049ad73c8983d36963485adac63","abstract_canon_sha256":"106f401a7f28aa942d8b63ab60a2585dd6ceafee48d9def092aa09642f87d1f9"},"schema_version":"1.0"},"canonical_sha256":"16de09d9fd23937efd68a7fafbcc23e24f3dd9253feebdf29dbdb9a158a294b7","source":{"kind":"arxiv","id":"1607.08089","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.08089","created_at":"2026-05-18T00:52:55Z"},{"alias_kind":"arxiv_version","alias_value":"1607.08089v2","created_at":"2026-05-18T00:52:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.08089","created_at":"2026-05-18T00:52:55Z"},{"alias_kind":"pith_short_12","alias_value":"C3PATWP5EOJX","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_16","alias_value":"C3PATWP5EOJX57LI","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_8","alias_value":"C3PATWP5","created_at":"2026-05-18T12:30:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:C3PATWP5EOJX57LIU75PXTBD4J","target":"record","payload":{"canonical_record":{"source":{"id":"1607.08089","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-27T13:49:43Z","cross_cats_sorted":[],"title_canon_sha256":"5725f49ceb67550b8a19eece4a36a08c1a8bc049ad73c8983d36963485adac63","abstract_canon_sha256":"106f401a7f28aa942d8b63ab60a2585dd6ceafee48d9def092aa09642f87d1f9"},"schema_version":"1.0"},"canonical_sha256":"16de09d9fd23937efd68a7fafbcc23e24f3dd9253feebdf29dbdb9a158a294b7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:52:55.274935Z","signature_b64":"+s8PqZqE8cWlIRrSBJfLOBCCkqNMpv5ziCiH0/ZDKlA99lpBD4ApGDaNpPwu06plztlFG8x2TXPSZZYvh3LEDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"16de09d9fd23937efd68a7fafbcc23e24f3dd9253feebdf29dbdb9a158a294b7","last_reissued_at":"2026-05-18T00:52:55.274434Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:52:55.274434Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1607.08089","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:52:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s0VVhmxN9RO4KpgVMliyHrzwdxc9kvF4Ka+6I4/DhOlOhy1fgaqRECkRRBOL+RmBXY3pQgnutF8+GuJ8mY65AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T18:39:18.540278Z"},"content_sha256":"efebd1275ba2267702102d107ea7432f450470e10e3c1e7e9a47896ed5da506b","schema_version":"1.0","event_id":"sha256:efebd1275ba2267702102d107ea7432f450470e10e3c1e7e9a47896ed5da506b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:C3PATWP5EOJX57LIU75PXTBD4J","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Francesco Nori, Georg Wiedebach, Jerry Pratt, Luca Fiorio, Robert Griffin, Stephen McCrory, Sylvain Bertrand, Tingfan Wu","submitted_at":"2016-07-27T13:49:43Z","abstract_excerpt":"We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of the foothold, but information about an expected foothold can be used to improve the stepping performance. After a step is taken, the robot explores the new contact surface by attempting to shift the center of pressure around the foot. The available foothold is inferred by the way in which the foot rotates about contact edges and/or by the achieved center of pressure locations on the foot during exploration. This estim"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.08089","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":""},"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":"2026-05-18T00:52:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ki4eV0HE9Ue1Xm4zEXGuUslDU5bzQJoOIU1ncNe8DeKacfuDVMEfKO0yUDEuMnbxsoG+HRUHjeJfB0Vj1FgkAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T18:39:18.540635Z"},"content_sha256":"a021fd7c55418dd4fc08f5c408061210978da94eb68093d6581a2147e73cfe91","schema_version":"1.0","event_id":"sha256:a021fd7c55418dd4fc08f5c408061210978da94eb68093d6581a2147e73cfe91"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/C3PATWP5EOJX57LIU75PXTBD4J/bundle.json","state_url":"https://pith.science/pith/C3PATWP5EOJX57LIU75PXTBD4J/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/C3PATWP5EOJX57LIU75PXTBD4J/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":"2026-06-03T18:39:18Z","links":{"resolver":"https://pith.science/pith/C3PATWP5EOJX57LIU75PXTBD4J","bundle":"https://pith.science/pith/C3PATWP5EOJX57LIU75PXTBD4J/bundle.json","state":"https://pith.science/pith/C3PATWP5EOJX57LIU75PXTBD4J/state.json","well_known_bundle":"https://pith.science/.well-known/pith/C3PATWP5EOJX57LIU75PXTBD4J/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:C3PATWP5EOJX57LIU75PXTBD4J","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":"106f401a7f28aa942d8b63ab60a2585dd6ceafee48d9def092aa09642f87d1f9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-27T13:49:43Z","title_canon_sha256":"5725f49ceb67550b8a19eece4a36a08c1a8bc049ad73c8983d36963485adac63"},"schema_version":"1.0","source":{"id":"1607.08089","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.08089","created_at":"2026-05-18T00:52:55Z"},{"alias_kind":"arxiv_version","alias_value":"1607.08089v2","created_at":"2026-05-18T00:52:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.08089","created_at":"2026-05-18T00:52:55Z"},{"alias_kind":"pith_short_12","alias_value":"C3PATWP5EOJX","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_16","alias_value":"C3PATWP5EOJX57LI","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_8","alias_value":"C3PATWP5","created_at":"2026-05-18T12:30:09Z"}],"graph_snapshots":[{"event_id":"sha256:a021fd7c55418dd4fc08f5c408061210978da94eb68093d6581a2147e73cfe91","target":"graph","created_at":"2026-05-18T00:52:55Z","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 method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of the foothold, but information about an expected foothold can be used to improve the stepping performance. After a step is taken, the robot explores the new contact surface by attempting to shift the center of pressure around the foot. The available foothold is inferred by the way in which the foot rotates about contact edges and/or by the achieved center of pressure locations on the foot during exploration. This estim","authors_text":"Francesco Nori, Georg Wiedebach, Jerry Pratt, Luca Fiorio, Robert Griffin, Stephen McCrory, Sylvain Bertrand, Tingfan Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-27T13:49:43Z","title":"Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.08089","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:efebd1275ba2267702102d107ea7432f450470e10e3c1e7e9a47896ed5da506b","target":"record","created_at":"2026-05-18T00:52:55Z","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":"106f401a7f28aa942d8b63ab60a2585dd6ceafee48d9def092aa09642f87d1f9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-27T13:49:43Z","title_canon_sha256":"5725f49ceb67550b8a19eece4a36a08c1a8bc049ad73c8983d36963485adac63"},"schema_version":"1.0","source":{"id":"1607.08089","kind":"arxiv","version":2}},"canonical_sha256":"16de09d9fd23937efd68a7fafbcc23e24f3dd9253feebdf29dbdb9a158a294b7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"16de09d9fd23937efd68a7fafbcc23e24f3dd9253feebdf29dbdb9a158a294b7","first_computed_at":"2026-05-18T00:52:55.274434Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:52:55.274434Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+s8PqZqE8cWlIRrSBJfLOBCCkqNMpv5ziCiH0/ZDKlA99lpBD4ApGDaNpPwu06plztlFG8x2TXPSZZYvh3LEDg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:52:55.274935Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.08089","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:efebd1275ba2267702102d107ea7432f450470e10e3c1e7e9a47896ed5da506b","sha256:a021fd7c55418dd4fc08f5c408061210978da94eb68093d6581a2147e73cfe91"],"state_sha256":"9b1e755adb4ee61d93fe05e48fe6f85afd3f0e61b95ad7e8f421a4685e85f7c9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7IzuHhNjMD3wP4i0Q5nwb7+X05q/S32yjXWs6ooBkKeF9RmJ6gFsfTPj90m6uHTwrU0QfzSm8wUiL9et7Na3BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-03T18:39:18.542912Z","bundle_sha256":"e8c41bc18b888e1eb0c76979b02c010560088ac7e89cf732caa8584dcc96c3e6"}}