{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:CWRUJ47IIRWFA4NIB7RGT7I2MQ","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":"2cc966b983e916afa705aa412a78c43d76b6d0a63bc4087fa4e6d755364689e0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-27T12:48:54Z","title_canon_sha256":"b7a9cb733226e39ce6148905feabd31cc730b0bd20a4304c4b0d3e75b3e6cc09"},"schema_version":"1.0","source":{"id":"2309.15624","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.15624","created_at":"2026-07-05T06:54:55Z"},{"alias_kind":"arxiv_version","alias_value":"2309.15624v1","created_at":"2026-07-05T06:54:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.15624","created_at":"2026-07-05T06:54:55Z"},{"alias_kind":"pith_short_12","alias_value":"CWRUJ47IIRWF","created_at":"2026-07-05T06:54:55Z"},{"alias_kind":"pith_short_16","alias_value":"CWRUJ47IIRWFA4NI","created_at":"2026-07-05T06:54:55Z"},{"alias_kind":"pith_short_8","alias_value":"CWRUJ47I","created_at":"2026-07-05T06:54:55Z"}],"graph_snapshots":[{"event_id":"sha256:b31a0a97c99f57b3278a8e669c61e4df73c0bb9f2ef5d936a0fcd545b9f71c38","target":"graph","created_at":"2026-07-05T06:54:55Z","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/2309.15624/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however mainly focused on positions, neglecting the orientation part which can be crucial to many tasks e.g. screwing. In this work, we propose a control algorithm that adapts the robot's rotational motion and impedance in a closed-loop manner. Given a first-order Dynamical System representing an orientation motion plan and a desired rotational stiffness profile, our","authors_text":"Dongheui Lee, Fares J. Abu-Dakka, Matteo Saveriano, Youssef Michel","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-27T12:48:54Z","title":"Orientation Control with Variable Stiffness Dynamical Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.15624","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":"sha256:82a0b4bc434f0e9eb2621d2ef855b68f6516a80e1851be599964ff25ba2dff73","target":"record","created_at":"2026-07-05T06:54:55Z","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":"2cc966b983e916afa705aa412a78c43d76b6d0a63bc4087fa4e6d755364689e0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-27T12:48:54Z","title_canon_sha256":"b7a9cb733226e39ce6148905feabd31cc730b0bd20a4304c4b0d3e75b3e6cc09"},"schema_version":"1.0","source":{"id":"2309.15624","kind":"arxiv","version":1}},"canonical_sha256":"15a344f3e8446c5071a80fe269fd1a643bd836efb03138b214d6ca375af92867","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"15a344f3e8446c5071a80fe269fd1a643bd836efb03138b214d6ca375af92867","first_computed_at":"2026-07-05T06:54:55.782377Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:54:55.782377Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jcCuPdJ1wTn/s+zwWpsoWFZa7lh7hdww3YkQLRB3Vx0lbBUTI982XwJmn/7SM99alYOltgBDa5RXqcs6hGBuAw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:54:55.782781Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.15624","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:82a0b4bc434f0e9eb2621d2ef855b68f6516a80e1851be599964ff25ba2dff73","sha256:b31a0a97c99f57b3278a8e669c61e4df73c0bb9f2ef5d936a0fcd545b9f71c38"],"state_sha256":"3f133cd14b6eff6823d466ead7a946aa4e7f85daa3d5c4e7afbdb8100a43ed05"}