Pith Number

pith:CEHB4UGI

pith:2011:CEHB4UGIGRMATI5XDFFHPCU4CR

not attested not anchored not stored refs pending

Enhanced stiffness modeling of manipulators with passive joints

Alexandr Klimchik (IRCCyN), Anatoly Pashkevich (IRCCyN), Damien Chablat (IRCCyN)

arxiv:1104.0769 v1 · 2011-04-05 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{CEHB4UGIGRMATI5XDFFHPCU4CR}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-05-18T04:25:02.574588Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

110e1e50c8345809a3b7194a778a9c145acbc6a1c782009a76256ba1005e62eb

Aliases

arxiv: 1104.0769 · arxiv_version: 1104.0769v1 · doi: 10.48550/arxiv.1104.0769 · pith_short_12: CEHB4UGIGRMA · pith_short_16: CEHB4UGIGRMATI5X · pith_short_8: CEHB4UGI

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/CEHB4UGIGRMATI5XDFFHPCU4CR \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 110e1e50c8345809a3b7194a778a9c145acbc6a1c782009a76256ba1005e62eb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c68e353a6fef5806b64ee41d4af2c000279e4f551ecd7d6ea1344335e640160e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2011-04-05T08:36:04Z",
    "title_canon_sha256": "38ea23cea3b65148b1526b7d2c732c6d0f5e0345b7e2178b052dfcfe913060c7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1104.0769",
    "kind": "arxiv",
    "version": 1
  }
}