{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:CLRCAAEBMONN6PCFLIWLZHIXTL","short_pith_number":"pith:CLRCAAEB","canonical_record":{"source":{"id":"1608.02683","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-08-09T03:10:05Z","cross_cats_sorted":["cs.DS","cs.RO","cs.SY"],"title_canon_sha256":"4a321f059035fc69374a0209e66e9be97a30ac5e73d6f4478eec8afeb9745ee3","abstract_canon_sha256":"5fe3f4aa32d7d0827f5882f42449e25f29f9fbaefa88f1b561c926e07eeef476"},"schema_version":"1.0"},"canonical_sha256":"12e2200081639adf3c455a2cbc9d179afce982b1ab540438f82ef6cf5081b6d4","source":{"kind":"arxiv","id":"1608.02683","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1608.02683","created_at":"2026-05-18T01:04:49Z"},{"alias_kind":"arxiv_version","alias_value":"1608.02683v3","created_at":"2026-05-18T01:04:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1608.02683","created_at":"2026-05-18T01:04:49Z"},{"alias_kind":"pith_short_12","alias_value":"CLRCAAEBMONN","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_16","alias_value":"CLRCAAEBMONN6PCF","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_8","alias_value":"CLRCAAEB","created_at":"2026-05-18T12:30:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:CLRCAAEBMONN6PCFLIWLZHIXTL","target":"record","payload":{"canonical_record":{"source":{"id":"1608.02683","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-08-09T03:10:05Z","cross_cats_sorted":["cs.DS","cs.RO","cs.SY"],"title_canon_sha256":"4a321f059035fc69374a0209e66e9be97a30ac5e73d6f4478eec8afeb9745ee3","abstract_canon_sha256":"5fe3f4aa32d7d0827f5882f42449e25f29f9fbaefa88f1b561c926e07eeef476"},"schema_version":"1.0"},"canonical_sha256":"12e2200081639adf3c455a2cbc9d179afce982b1ab540438f82ef6cf5081b6d4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:04:49.504762Z","signature_b64":"N2uZY/t5jOwi4gxFA4sCgbE02cqLW7/vFm/2KCFe+p6eXdCwHu1VQQPHBwe9hvjfAehbC1xN/LbOGs03pyi5CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"12e2200081639adf3c455a2cbc9d179afce982b1ab540438f82ef6cf5081b6d4","last_reissued_at":"2026-05-18T01:04:49.504360Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:04:49.504360Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1608.02683","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:04:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ewXKXpUtkwrBl02ud9qyi2/juBs+Tff/OLLt1vr/PWaNwm/LVkegfAGj+qqbvrixz7ELw27sPO18Yt+O3ACjDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T19:37:35.164395Z"},"content_sha256":"687b6e4e8a2087a9479920c6b69147a2520688d6ca89302a466e88623dc45f97","schema_version":"1.0","event_id":"sha256:687b6e4e8a2087a9479920c6b69147a2520688d6ca89302a466e88623dc45f97"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:CLRCAAEBMONN6PCFLIWLZHIXTL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"System Identification and Control of Valkyrie through SVA--Based Regressor Computation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.DS","cs.RO","cs.SY"],"primary_cat":"math.OC","authors_text":"Aaron D. Ames, Benjamin J. Morris, Ryan W. Sinnet, Shishir Kolathaya","submitted_at":"2016-08-09T03:10:05Z","abstract_excerpt":"This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Coriolis-centrifugal and gravity terms for the dynamics of a robot are computed using spatial inertia tensors. With the assumption that the link lengths or the distance between the joint axes are accurately known, it will be shown that inertial properties of a robot can be directly evaluated from the inertia tensor. An algorithm is proposed to evaluate the regressor, yielding a run time of $O(n^2)$. The efficiency of this algorithm"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1608.02683","kind":"arxiv","version":3},"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":"2026-05-18T01:04:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A5UMa2gTcbtvBo877yFEXURLZI1x3eHvG8XmKdbp01XnYJDRA9MskfpT1HA0MFqu0EJnKfVxw1gN53p4TuiOCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T19:37:35.164793Z"},"content_sha256":"40c856c075ff94a349899de6ccac51400d710597f6005ba31b012c74ae8228ce","schema_version":"1.0","event_id":"sha256:40c856c075ff94a349899de6ccac51400d710597f6005ba31b012c74ae8228ce"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CLRCAAEBMONN6PCFLIWLZHIXTL/bundle.json","state_url":"https://pith.science/pith/CLRCAAEBMONN6PCFLIWLZHIXTL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CLRCAAEBMONN6PCFLIWLZHIXTL/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":"2026-05-26T19:37:35Z","links":{"resolver":"https://pith.science/pith/CLRCAAEBMONN6PCFLIWLZHIXTL","bundle":"https://pith.science/pith/CLRCAAEBMONN6PCFLIWLZHIXTL/bundle.json","state":"https://pith.science/pith/CLRCAAEBMONN6PCFLIWLZHIXTL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CLRCAAEBMONN6PCFLIWLZHIXTL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:CLRCAAEBMONN6PCFLIWLZHIXTL","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":"5fe3f4aa32d7d0827f5882f42449e25f29f9fbaefa88f1b561c926e07eeef476","cross_cats_sorted":["cs.DS","cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-08-09T03:10:05Z","title_canon_sha256":"4a321f059035fc69374a0209e66e9be97a30ac5e73d6f4478eec8afeb9745ee3"},"schema_version":"1.0","source":{"id":"1608.02683","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1608.02683","created_at":"2026-05-18T01:04:49Z"},{"alias_kind":"arxiv_version","alias_value":"1608.02683v3","created_at":"2026-05-18T01:04:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1608.02683","created_at":"2026-05-18T01:04:49Z"},{"alias_kind":"pith_short_12","alias_value":"CLRCAAEBMONN","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_16","alias_value":"CLRCAAEBMONN6PCF","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_8","alias_value":"CLRCAAEB","created_at":"2026-05-18T12:30:09Z"}],"graph_snapshots":[{"event_id":"sha256:40c856c075ff94a349899de6ccac51400d710597f6005ba31b012c74ae8228ce","target":"graph","created_at":"2026-05-18T01:04:49Z","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":"This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Coriolis-centrifugal and gravity terms for the dynamics of a robot are computed using spatial inertia tensors. With the assumption that the link lengths or the distance between the joint axes are accurately known, it will be shown that inertial properties of a robot can be directly evaluated from the inertia tensor. An algorithm is proposed to evaluate the regressor, yielding a run time of $O(n^2)$. The efficiency of this algorithm","authors_text":"Aaron D. Ames, Benjamin J. Morris, Ryan W. Sinnet, Shishir Kolathaya","cross_cats":["cs.DS","cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-08-09T03:10:05Z","title":"System Identification and Control of Valkyrie through SVA--Based Regressor Computation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1608.02683","kind":"arxiv","version":3},"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":"sha256:687b6e4e8a2087a9479920c6b69147a2520688d6ca89302a466e88623dc45f97","target":"record","created_at":"2026-05-18T01:04:49Z","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":"5fe3f4aa32d7d0827f5882f42449e25f29f9fbaefa88f1b561c926e07eeef476","cross_cats_sorted":["cs.DS","cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-08-09T03:10:05Z","title_canon_sha256":"4a321f059035fc69374a0209e66e9be97a30ac5e73d6f4478eec8afeb9745ee3"},"schema_version":"1.0","source":{"id":"1608.02683","kind":"arxiv","version":3}},"canonical_sha256":"12e2200081639adf3c455a2cbc9d179afce982b1ab540438f82ef6cf5081b6d4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"12e2200081639adf3c455a2cbc9d179afce982b1ab540438f82ef6cf5081b6d4","first_computed_at":"2026-05-18T01:04:49.504360Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:04:49.504360Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"N2uZY/t5jOwi4gxFA4sCgbE02cqLW7/vFm/2KCFe+p6eXdCwHu1VQQPHBwe9hvjfAehbC1xN/LbOGs03pyi5CQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:04:49.504762Z","signed_message":"canonical_sha256_bytes"},"source_id":"1608.02683","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:687b6e4e8a2087a9479920c6b69147a2520688d6ca89302a466e88623dc45f97","sha256:40c856c075ff94a349899de6ccac51400d710597f6005ba31b012c74ae8228ce"],"state_sha256":"7502ec7303a83ae00dca0dc806addacfbdcffde66107160a3039c8e026830243"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1mUr0qLSQGsGaZuNzZNh0vMazAWomrWo3YhzqYP4TdhJhbeJ8PKpUL79716i7t2eL4wPuHmcPxhWQpqIByE8CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T19:37:35.167548Z","bundle_sha256":"f093168491afd201f1d0f613177e1fdbea77e3953ed26443a4da444f7abb1871"}}