Pith Number

pith:CO73TYBM

pith:2019:CO73TYBMQFCNKVN6JNUWHT4FHP

not attested not anchored not stored refs pending

Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces

Lorenz Wellhausen, Marco Hutter, Marko Bjelonic, Navinda Kottege, Russell Buchanan, Tirthankar Bandyopadhyay

arxiv:1901.10863 v2 · 2019-01-30 · 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{CO73TYBMQFCNKVN6JNUWHT4FHP}

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	2026-07-05T01:43:54.223568Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

13bfb9e02c8144d555be4b6963cf853bf92e947816941f9fdffa6dc4905dfb91

Aliases

arxiv: 1901.10863 · arxiv_version: 1901.10863v2 · doi: 10.48550/arxiv.1901.10863 · pith_short_12: CO73TYBMQFCN · pith_short_16: CO73TYBMQFCNKVN6 · pith_short_8: CO73TYBM

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/CO73TYBMQFCNKVN6JNUWHT4FHP \
  | 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: 13bfb9e02c8144d555be4b6963cf853bf92e947816941f9fdffa6dc4905dfb91

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "feea2790d9d06abbdb4561542450dc1962b40890cd4421df2b70f7f129b3f03d",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-01-30T14:43:10Z",
    "title_canon_sha256": "0bf1ddaf3e8e72397c3663efc3c734954f15f1ba68dcea2421a53056bcc27abd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1901.10863",
    "kind": "arxiv",
    "version": 2
  }
}