{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:CDEFP2FJF7YJLQBLM6J6ZTDCAT","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":"44357a3812079900c1eeb6a0cb01eaaffebfbad1ee32c11fcdda8a722d92467b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-25T15:44:01Z","title_canon_sha256":"78854acf013c4123fd17835732929f5af6747141a4d48c0f3d88e8f5b6541c95"},"schema_version":"1.0","source":{"id":"2508.18139","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.18139","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"arxiv_version","alias_value":"2508.18139v1","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.18139","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"pith_short_12","alias_value":"CDEFP2FJF7YJ","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"pith_short_16","alias_value":"CDEFP2FJF7YJLQBL","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"pith_short_8","alias_value":"CDEFP2FJ","created_at":"2026-07-05T11:58:54Z"}],"graph_snapshots":[{"event_id":"sha256:53bda5fe2b8209521dfa3e77e04da32f84af4294188d59b44b70712a57ffd98b","target":"graph","created_at":"2026-07-05T11:58:54Z","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/2508.18139/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This study presents an analysis of experimental data from Harpy, a thruster-assisted bipedal robot developed at Northeastern University. The study examines data sets from trotting and jumping experiments to understand the fundamental principles governing hybrid leg-thruster locomotion. Through data analysis across multiple locomotion modes, this research reveals that Harpy achieves stable locomotion with bounded trajectories and consistent foot placement through strategic leg-thruster synergy. The results demonstrate controlled joint behavior with low torques and symmetric tracking, accurate f","authors_text":"Prathima Ananda Kumar","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-25T15:44:01Z","title":"Analysis of Harpy's Constrained Trotting and Jumping Maneuver"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.18139","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":"sha256:17757ba2a01421e1c0abd1c77330e22645eee13fa014ff48c2880c2e789c1833","target":"record","created_at":"2026-07-05T11:58:54Z","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":"44357a3812079900c1eeb6a0cb01eaaffebfbad1ee32c11fcdda8a722d92467b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-25T15:44:01Z","title_canon_sha256":"78854acf013c4123fd17835732929f5af6747141a4d48c0f3d88e8f5b6541c95"},"schema_version":"1.0","source":{"id":"2508.18139","kind":"arxiv","version":1}},"canonical_sha256":"10c857e8a92ff095c02b6793eccc6204e1000c69bf21a3a697410f59d2534fa4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"10c857e8a92ff095c02b6793eccc6204e1000c69bf21a3a697410f59d2534fa4","first_computed_at":"2026-07-05T11:58:54.421679Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:58:54.421679Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"U8Zy7GKAcu0ZgcMuGc7ImUr8VkqBZoYCVhG22cAeVimEAmLJ4ztY9MVyu1AtmgvRM9bNiTqn3zO/5u+GA3smBA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:58:54.422181Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.18139","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:17757ba2a01421e1c0abd1c77330e22645eee13fa014ff48c2880c2e789c1833","sha256:53bda5fe2b8209521dfa3e77e04da32f84af4294188d59b44b70712a57ffd98b"],"state_sha256":"9d8a587202f3d6731f84e4d5d3a90616904abf2c3f89f899ddf2fa71275ebc22"}