Pith Number

pith:DT3YBXTZ

pith:2023:DT3YBXTZBCO3XWARV6GDTKTCHY

not attested not anchored not stored refs pending

Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control

Aayushi Shrivastava, Grant Gibson, Jessy W Grizzle, Oluwami Dosunmu-Ogunbi

arxiv:2307.02448 v2 · 2023-07-05 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{DT3YBXTZBCO3XWARV6GDTKTCHY}

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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.

Cited by

1 paper in Pith

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control

Receipt and verification

First computed	2026-07-05T07:52:10.790973Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1cf780de79089dbbd811af8c39aa623e0ee1801fd355d8bea92a89b35b06a46c

Aliases

arxiv: 2307.02448 · arxiv_version: 2307.02448v2 · doi: 10.48550/arxiv.2307.02448 · pith_short_12: DT3YBXTZBCO3 · pith_short_16: DT3YBXTZBCO3XWAR · pith_short_8: DT3YBXTZ

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/DT3YBXTZBCO3XWARV6GDTKTCHY \
  | 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: 1cf780de79089dbbd811af8c39aa623e0ee1801fd355d8bea92a89b35b06a46c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f1b5921d701100a884c745ee26d02d99fe00757e0eae3574353f2d242284c653",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-07-05T17:19:15Z",
    "title_canon_sha256": "e9095a02427aaae3509e1795b4ea3fe4e0dbae5cfd35df9fe9f009023ca8707e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2307.02448",
    "kind": "arxiv",
    "version": 2
  }
}