{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:CCFJA5U6LWY3GLMDMYZFPO3VVC","short_pith_number":"pith:CCFJA5U6","canonical_record":{"source":{"id":"1905.09934","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-24T10:58:07Z","cross_cats_sorted":[],"title_canon_sha256":"e89233242e68eb57612e7e96b992a34fadee6d24d0298f87d62fcbc2a7e6954c","abstract_canon_sha256":"7258188bd43b8b3f8a308e2b348e1b118224758c1778b0b26eb840f8014fd6b8"},"schema_version":"1.0"},"canonical_sha256":"108a90769e5db1b32d83663257bb75a8ad8b95ee342068dcdca58ceedf5993f3","source":{"kind":"arxiv","id":"1905.09934","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.09934","created_at":"2026-05-17T23:45:13Z"},{"alias_kind":"arxiv_version","alias_value":"1905.09934v1","created_at":"2026-05-17T23:45:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.09934","created_at":"2026-05-17T23:45:13Z"},{"alias_kind":"pith_short_12","alias_value":"CCFJA5U6LWY3","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"CCFJA5U6LWY3GLMD","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"CCFJA5U6","created_at":"2026-05-18T12:33:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:CCFJA5U6LWY3GLMDMYZFPO3VVC","target":"record","payload":{"canonical_record":{"source":{"id":"1905.09934","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-24T10:58:07Z","cross_cats_sorted":[],"title_canon_sha256":"e89233242e68eb57612e7e96b992a34fadee6d24d0298f87d62fcbc2a7e6954c","abstract_canon_sha256":"7258188bd43b8b3f8a308e2b348e1b118224758c1778b0b26eb840f8014fd6b8"},"schema_version":"1.0"},"canonical_sha256":"108a90769e5db1b32d83663257bb75a8ad8b95ee342068dcdca58ceedf5993f3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:45:13.964826Z","signature_b64":"rBJezjP8/1ywY8vhueHvzZ3iUxcIS7/GMreBazX7BcAvWlf2Vf8XvBVljiVXSwg73hXoHMrkuFtZMNVXgE1gCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"108a90769e5db1b32d83663257bb75a8ad8b95ee342068dcdca58ceedf5993f3","last_reissued_at":"2026-05-17T23:45:13.963930Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:45:13.963930Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1905.09934","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":"2026-05-17T23:45:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HgQ7esPWl07svWYuu1L+X2m7BdUkhz68EmId6H3fmYwfXSpLBMSiwe8FsmM7aTRkqARfWuvgGi+UiJA8Rn18BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T06:46:05.645488Z"},"content_sha256":"b9e2d297ede2109cd9faee4e8a437d0c0c610e49989161eec38eb1b8e73afb18","schema_version":"1.0","event_id":"sha256:b9e2d297ede2109cd9faee4e8a437d0c0c610e49989161eec38eb1b8e73afb18"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:CCFJA5U6LWY3GLMDMYZFPO3VVC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Mechatronic Design of a Dribbling System for RoboCup Small Size Robot","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiacheng Li, Lingyun Chen, Rong Xiong, Yunkai Wang, Zexi Chen, Zheyuan Huang","submitted_at":"2019-05-24T10:58:07Z","abstract_excerpt":"RoboCup SSL is an excellent platform for researching artificial intelligence and robotics. The dribbling system is an essential issue, which is the main part for completing advanced soccer skills such as trapping and dribbling. In this paper, we designed a new dribbling system for SSL robots, including mechatronics design and control algorithms. For the mechatronics design, we analysed and exposed the 3-touch-point model with the simulation in ADAMS. In the motor controller algorithm, we use reinforcement learning to control the torque output. Finally we verified the results on the robot."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.09934","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":"2026-05-17T23:45:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/O8dF6pcPtAY3DQ2bpEDNTOpahZMgWmmuaHW2XGCiwKA6KQqiGSGhzYmmxUCuyTLVS3l9iplH4tI6eCNsyFkDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T06:46:05.645829Z"},"content_sha256":"964ce038aa4d1898af7092830f2ee103b427f7f0ac0a367ecb5808edf2e1329f","schema_version":"1.0","event_id":"sha256:964ce038aa4d1898af7092830f2ee103b427f7f0ac0a367ecb5808edf2e1329f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CCFJA5U6LWY3GLMDMYZFPO3VVC/bundle.json","state_url":"https://pith.science/pith/CCFJA5U6LWY3GLMDMYZFPO3VVC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CCFJA5U6LWY3GLMDMYZFPO3VVC/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":"2026-06-04T06:46:05Z","links":{"resolver":"https://pith.science/pith/CCFJA5U6LWY3GLMDMYZFPO3VVC","bundle":"https://pith.science/pith/CCFJA5U6LWY3GLMDMYZFPO3VVC/bundle.json","state":"https://pith.science/pith/CCFJA5U6LWY3GLMDMYZFPO3VVC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CCFJA5U6LWY3GLMDMYZFPO3VVC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:CCFJA5U6LWY3GLMDMYZFPO3VVC","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":"7258188bd43b8b3f8a308e2b348e1b118224758c1778b0b26eb840f8014fd6b8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-24T10:58:07Z","title_canon_sha256":"e89233242e68eb57612e7e96b992a34fadee6d24d0298f87d62fcbc2a7e6954c"},"schema_version":"1.0","source":{"id":"1905.09934","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.09934","created_at":"2026-05-17T23:45:13Z"},{"alias_kind":"arxiv_version","alias_value":"1905.09934v1","created_at":"2026-05-17T23:45:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.09934","created_at":"2026-05-17T23:45:13Z"},{"alias_kind":"pith_short_12","alias_value":"CCFJA5U6LWY3","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"CCFJA5U6LWY3GLMD","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"CCFJA5U6","created_at":"2026-05-18T12:33:12Z"}],"graph_snapshots":[{"event_id":"sha256:964ce038aa4d1898af7092830f2ee103b427f7f0ac0a367ecb5808edf2e1329f","target":"graph","created_at":"2026-05-17T23:45:13Z","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":"RoboCup SSL is an excellent platform for researching artificial intelligence and robotics. The dribbling system is an essential issue, which is the main part for completing advanced soccer skills such as trapping and dribbling. In this paper, we designed a new dribbling system for SSL robots, including mechatronics design and control algorithms. For the mechatronics design, we analysed and exposed the 3-touch-point model with the simulation in ADAMS. In the motor controller algorithm, we use reinforcement learning to control the torque output. Finally we verified the results on the robot.","authors_text":"Jiacheng Li, Lingyun Chen, Rong Xiong, Yunkai Wang, Zexi Chen, Zheyuan Huang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-24T10:58:07Z","title":"Mechatronic Design of a Dribbling System for RoboCup Small Size Robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.09934","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:b9e2d297ede2109cd9faee4e8a437d0c0c610e49989161eec38eb1b8e73afb18","target":"record","created_at":"2026-05-17T23:45:13Z","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":"7258188bd43b8b3f8a308e2b348e1b118224758c1778b0b26eb840f8014fd6b8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-24T10:58:07Z","title_canon_sha256":"e89233242e68eb57612e7e96b992a34fadee6d24d0298f87d62fcbc2a7e6954c"},"schema_version":"1.0","source":{"id":"1905.09934","kind":"arxiv","version":1}},"canonical_sha256":"108a90769e5db1b32d83663257bb75a8ad8b95ee342068dcdca58ceedf5993f3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"108a90769e5db1b32d83663257bb75a8ad8b95ee342068dcdca58ceedf5993f3","first_computed_at":"2026-05-17T23:45:13.963930Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:45:13.963930Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rBJezjP8/1ywY8vhueHvzZ3iUxcIS7/GMreBazX7BcAvWlf2Vf8XvBVljiVXSwg73hXoHMrkuFtZMNVXgE1gCg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:45:13.964826Z","signed_message":"canonical_sha256_bytes"},"source_id":"1905.09934","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b9e2d297ede2109cd9faee4e8a437d0c0c610e49989161eec38eb1b8e73afb18","sha256:964ce038aa4d1898af7092830f2ee103b427f7f0ac0a367ecb5808edf2e1329f"],"state_sha256":"ea47b2fbc902c58b101b92926a669f3015c0175c7f2c64ef9addaf5aaa9e5486"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nmq4uNV+fQfzoSWgBQ5U+b2tMZYaKvJw1vBRDoUigTqqdWrPGSpXBLtfddorEDAi+h+YwBNqr/uopWbCMAvHDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-04T06:46:05.648086Z","bundle_sha256":"d90b8be3c1bce15eb62299fd66bafc0c882e05d740b6f2794b2683fab3570c3e"}}