{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:CFLJLTOAOXQAN2SOBVEQCDTFXV","short_pith_number":"pith:CFLJLTOA","schema_version":"1.0","canonical_sha256":"115695cdc075e006ea4e0d49010e65bd7e5d6319ecc0949a21dbbb557a002a08","source":{"kind":"arxiv","id":"2506.12314","version":1},"attestation_state":"computed","paper":{"title":"Explosive Output to Enhance Jumping Ability: A Variable Reduction Ratio Design Paradigm for Humanoid Robots Knee Joint","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Haochen Xu, Haoxiang Qi, Junyao Gao, Qiang Huang, Qingqing Li, Xiaoshuai Ma, Xuechao Chen, Zhangguo Yu","submitted_at":"2025-06-14T02:29:42Z","abstract_excerpt":"Enhancing the explosive power output of the knee joints is critical for improving the agility and obstacle-crossing capabilities of humanoid robots. However, a mismatch between the knee-to-center-of-mass (CoM) transmission ratio and jumping demands, coupled with motor performance degradation at high speeds, restricts the duration of high-power output and limits jump performance. To address these problems, this paper introduces a novel knee joint design paradigm employing a dynamically decreasing reduction ratio for explosive output during jump. Analysis of motor output characteristics and knee"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2506.12314","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-14T02:29:42Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"02d994fe335c840e1aea0caca61566dddd9e766eff5da33b64f5c21309d061e6","abstract_canon_sha256":"f680937dab8358654969287ccb2d3398eca346e3c6aaaff3e4ac962dbc488d95"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:21:51.193412Z","signature_b64":"oVe4JZos3NTy++3Q9TTlERWFdzFjboYvkAEmO0qnXc+Vp7h/LtzXDVgjulZe998uAQ92qvA+j7vIzS9aIp1uAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"115695cdc075e006ea4e0d49010e65bd7e5d6319ecc0949a21dbbb557a002a08","last_reissued_at":"2026-07-05T11:21:51.192931Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:21:51.192931Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Explosive Output to Enhance Jumping Ability: A Variable Reduction Ratio Design Paradigm for Humanoid Robots Knee Joint","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Haochen Xu, Haoxiang Qi, Junyao Gao, Qiang Huang, Qingqing Li, Xiaoshuai Ma, Xuechao Chen, Zhangguo Yu","submitted_at":"2025-06-14T02:29:42Z","abstract_excerpt":"Enhancing the explosive power output of the knee joints is critical for improving the agility and obstacle-crossing capabilities of humanoid robots. However, a mismatch between the knee-to-center-of-mass (CoM) transmission ratio and jumping demands, coupled with motor performance degradation at high speeds, restricts the duration of high-power output and limits jump performance. To address these problems, this paper introduces a novel knee joint design paradigm employing a dynamically decreasing reduction ratio for explosive output during jump. Analysis of motor output characteristics and knee"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.12314","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2506.12314/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2506.12314","created_at":"2026-07-05T11:21:51.192987+00:00"},{"alias_kind":"arxiv_version","alias_value":"2506.12314v1","created_at":"2026-07-05T11:21:51.192987+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.12314","created_at":"2026-07-05T11:21:51.192987+00:00"},{"alias_kind":"pith_short_12","alias_value":"CFLJLTOAOXQA","created_at":"2026-07-05T11:21:51.192987+00:00"},{"alias_kind":"pith_short_16","alias_value":"CFLJLTOAOXQAN2SO","created_at":"2026-07-05T11:21:51.192987+00:00"},{"alias_kind":"pith_short_8","alias_value":"CFLJLTOA","created_at":"2026-07-05T11:21:51.192987+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/CFLJLTOAOXQAN2SOBVEQCDTFXV","json":"https://pith.science/pith/CFLJLTOAOXQAN2SOBVEQCDTFXV.json","graph_json":"https://pith.science/api/pith-number/CFLJLTOAOXQAN2SOBVEQCDTFXV/graph.json","events_json":"https://pith.science/api/pith-number/CFLJLTOAOXQAN2SOBVEQCDTFXV/events.json","paper":"https://pith.science/paper/CFLJLTOA"},"agent_actions":{"view_html":"https://pith.science/pith/CFLJLTOAOXQAN2SOBVEQCDTFXV","download_json":"https://pith.science/pith/CFLJLTOAOXQAN2SOBVEQCDTFXV.json","view_paper":"https://pith.science/paper/CFLJLTOA","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2506.12314&json=true","fetch_graph":"https://pith.science/api/pith-number/CFLJLTOAOXQAN2SOBVEQCDTFXV/graph.json","fetch_events":"https://pith.science/api/pith-number/CFLJLTOAOXQAN2SOBVEQCDTFXV/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/CFLJLTOAOXQAN2SOBVEQCDTFXV/action/timestamp_anchor","attest_storage":"https://pith.science/pith/CFLJLTOAOXQAN2SOBVEQCDTFXV/action/storage_attestation","attest_author":"https://pith.science/pith/CFLJLTOAOXQAN2SOBVEQCDTFXV/action/author_attestation","sign_citation":"https://pith.science/pith/CFLJLTOAOXQAN2SOBVEQCDTFXV/action/citation_signature","submit_replication":"https://pith.science/pith/CFLJLTOAOXQAN2SOBVEQCDTFXV/action/replication_record"}},"created_at":"2026-07-05T11:21:51.192987+00:00","updated_at":"2026-07-05T11:21:51.192987+00:00"}