Pith Number

pith:DFH7PDKN

pith:2017:DFH7PDKN2QLCQNXVY5FL2CCIXA

not attested not anchored not stored refs pending

A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping

Francesco Nori, Francesco Romano, Gabriele Nava, Stefano Dafarra

arxiv:1705.10635 v2 · 2017-05-30 · 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{DFH7PDKN2QLCQNXVY5FL2CCIXA}

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	2026-05-18T00:39:17.739883Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

194ff78d4dd4162836f5c74abd0848b8073ec1fb2a102a36bdd3a824aa2a3f99

Aliases

arxiv: 1705.10635 · arxiv_version: 1705.10635v2 · doi: 10.48550/arxiv.1705.10635 · pith_short_12: DFH7PDKN2QLC · pith_short_16: DFH7PDKN2QLCQNXV · pith_short_8: DFH7PDKN

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/DFH7PDKN2QLCQNXVY5FL2CCIXA \
  | 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: 194ff78d4dd4162836f5c74abd0848b8073ec1fb2a102a36bdd3a824aa2a3f99

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "18df093580b0a435a4da69bf6813aa5b6b9659f7b932ae8fe668f5fb3f020151",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-05-30T13:44:29Z",
    "title_canon_sha256": "345e7ec9c07b7bdc451c49b05ba52cb2ee481e401df60a216773725e90df81aa"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1705.10635",
    "kind": "arxiv",
    "version": 2
  }
}