Pith Number

pith:E3QD2XOC

pith:2022:E3QD2XOCUWNVAISR4ZEFLCK3OP

not attested not anchored not stored refs pending

BSA -- Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots

Abdalla Swikir, Dennis Ossadnik, Fan Wu, Hugo T. M. Kussaba, Mehmet C. Yildirim, Saeed Abdolshah, Sami Haddadin

arxiv:2212.14741 v1 · 2022-12-30 · cs.RO · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{E3QD2XOCUWNVAISR4ZEFLCK3OP}

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	2026-07-05T05:29:21.025169Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

26e03d5dc2a59b502251e64855895b73f0c55f765225c44df697953701ee161d

Aliases

arxiv: 2212.14741 · arxiv_version: 2212.14741v1 · doi: 10.48550/arxiv.2212.14741 · pith_short_12: E3QD2XOCUWNV · pith_short_16: E3QD2XOCUWNVAISR · pith_short_8: E3QD2XOC

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/E3QD2XOCUWNVAISR4ZEFLCK3OP \
  | 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: 26e03d5dc2a59b502251e64855895b73f0c55f765225c44df697953701ee161d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ffcecf8cb1f6f502bd68c5af3e08ed97cac5513eeaf9845372b73db2469bfbc9",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-12-30T14:33:46Z",
    "title_canon_sha256": "48062f1f7472e739551e60cf30298de8d482332ed728409b596b238649ecbf85"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2212.14741",
    "kind": "arxiv",
    "version": 1
  }
}