Pith Number

pith:DVJB3EOL

pith:2021:DVJB3EOLQ2XENXEFQ5ZL3YT5YI

not attested not anchored not stored refs pending

A general locomotion control framework for multi-legged locomotors

Abdul Kaba, Alfredo Nicieza, Baxi Chong, Ciera McFarland, Daniel I. Goldman, Enes Aydin, Guillaume Sartoretti, Howie Choset, Jeffery W. Rankin, Jennifer M. Rieser, John R Hutchinson, Julian Whitman, Kelimar Diaz Cruz, Krijn B Michel, Tianyu Wang, Yasemin O. Aydin

arxiv:2112.00662 v2 · 2021-12-01 · 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{DVJB3EOLQ2XENXEFQ5ZL3YT5YI}

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	2026-07-05T04:35:40.245187Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1d521d91cb86ae46dc858772bde27dc23967af93d0b1ac61385a153ec2d07c3b

Aliases

arxiv: 2112.00662 · arxiv_version: 2112.00662v2 · doi: 10.48550/arxiv.2112.00662 · pith_short_12: DVJB3EOLQ2XE · pith_short_16: DVJB3EOLQ2XENXEF · pith_short_8: DVJB3EOL

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/DVJB3EOLQ2XENXEFQ5ZL3YT5YI \
  | 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: 1d521d91cb86ae46dc858772bde27dc23967af93d0b1ac61385a153ec2d07c3b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9c39dd11cb28631599b57685ec21788ea146f21bf699ba2ad8d8a825f33ca4fd",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-12-01T17:17:23Z",
    "title_canon_sha256": "52a2a4f3b4d6a0faf657e75000350c049506f0efaccf43862cb2226846c1789a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2112.00662",
    "kind": "arxiv",
    "version": 2
  }
}