Pith Number

pith:ENYGLRH6

pith:2024:ENYGLRH63YRIINV2ZH7MYVXRLA

not attested not anchored not stored refs pending

A Comparison Between Lie Group- and Lie Algebra- Based Potential Functions for Geometric Impedance Control

Jongeun Choi, Joohwan Seo, Nikhil Potu Surya Prakash, Roberto Horowitz

arxiv:2401.13190 v1 · 2024-01-24 · 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{ENYGLRH63YRIINV2ZH7MYVXRLA}

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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

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators

Receipt and verification

First computed	2026-07-05T07:37:01.910432Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

237065c4fede228436bac9fecc56f15825107a8b53bb2e1093c16113f8dad7c1

Aliases

arxiv: 2401.13190 · arxiv_version: 2401.13190v1 · doi: 10.48550/arxiv.2401.13190 · pith_short_12: ENYGLRH63YRI · pith_short_16: ENYGLRH63YRIINV2 · pith_short_8: ENYGLRH6

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/ENYGLRH63YRIINV2ZH7MYVXRLA \
  | 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: 237065c4fede228436bac9fecc56f15825107a8b53bb2e1093c16113f8dad7c1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "84fbb8f7751f1b5901759bfa5fdb67a3193f833293f2873fd6d2bd2d9a5b27c5",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-01-24T02:31:52Z",
    "title_canon_sha256": "40aca99159d38a08bcb4fc440a7d3d476442fca18c4c91ddc8002d6aa0294a96"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2401.13190",
    "kind": "arxiv",
    "version": 1
  }
}