Pith Number

pith:FD5K5HT5

pith:2016:FD5K5HT5RH3OLXAY7VQMDP5ESW

not attested not anchored not stored refs pending

Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots

Daniele Pucci, Francesco Nori, Gabriele Nava

arxiv:1610.02849 v3 · 2016-10-10 · cs.SY · 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{FD5K5HT5RH3OLXAY7VQMDP5ESW}

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	2026-05-18T00:53:07.235566Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

28faae9e7d89f6e5dc18fd60c1bfa495bdb33c1704937053139b65699ef55383

Aliases

arxiv: 1610.02849 · arxiv_version: 1610.02849v3 · doi: 10.48550/arxiv.1610.02849 · pith_short_12: FD5K5HT5RH3O · pith_short_16: FD5K5HT5RH3OLXAY · pith_short_8: FD5K5HT5

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/FD5K5HT5RH3OLXAY7VQMDP5ESW \
  | 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: 28faae9e7d89f6e5dc18fd60c1bfa495bdb33c1704937053139b65699ef55383

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6c5a7109958b69681979d6eee05f1f9cb2137e2ef43886dc20c5c2024341e0aa",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2016-10-10T11:10:40Z",
    "title_canon_sha256": "43fe1f5175debac9d11677f55c04e6a7f79333ce415f4e0992f7e54d1e56a2ed"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1610.02849",
    "kind": "arxiv",
    "version": 3
  }
}