{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:FDZD44Y2NOC544DIPQMPDLPPXA","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"325b1de517d13ad3396f0a963747f13de76e5503591dc8c3850e863d68bd7a33","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"cs.RO","submitted_at":"2014-10-16T13:55:42Z","title_canon_sha256":"921bb2ca50c93decc7cf822dd6f78b6d10ca4aae7c2a3eb413e6c7a3f67de2a3"},"schema_version":"1.0","source":{"id":"1410.4426","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1410.4426","created_at":"2026-05-18T02:39:56Z"},{"alias_kind":"arxiv_version","alias_value":"1410.4426v1","created_at":"2026-05-18T02:39:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1410.4426","created_at":"2026-05-18T02:39:56Z"},{"alias_kind":"pith_short_12","alias_value":"FDZD44Y2NOC5","created_at":"2026-05-18T12:28:28Z"},{"alias_kind":"pith_short_16","alias_value":"FDZD44Y2NOC544DI","created_at":"2026-05-18T12:28:28Z"},{"alias_kind":"pith_short_8","alias_value":"FDZD44Y2","created_at":"2026-05-18T12:28:28Z"}],"graph_snapshots":[{"event_id":"sha256:71b4d0e07a2f1338646e80e103a752c893d704fb6d3d36f5bb87daa737fc55ed","target":"graph","created_at":"2026-05-18T02:39:56Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base robot. We derive a new formulation of the lexicographic optimization problem typically arising in multitask motion/force control frameworks. The structure of the constraints of the problem (i.e. the dynamics of the robot) allows us to find a sparse analytical solution. This leads to an equivalent optimization with reduced computational complexity, comparable to ","authors_text":"Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale, Nicolas Mansard","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"cs.RO","submitted_at":"2014-10-16T13:55:42Z","title":"Partial Force Control of Constrained Floating-Base Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1410.4426","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:69b6647164e3c42be30bd9be35629050b6f0b6001a0962a95833c0f466ebb7e6","target":"record","created_at":"2026-05-18T02:39:56Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"325b1de517d13ad3396f0a963747f13de76e5503591dc8c3850e863d68bd7a33","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"cs.RO","submitted_at":"2014-10-16T13:55:42Z","title_canon_sha256":"921bb2ca50c93decc7cf822dd6f78b6d10ca4aae7c2a3eb413e6c7a3f67de2a3"},"schema_version":"1.0","source":{"id":"1410.4426","kind":"arxiv","version":1}},"canonical_sha256":"28f23e731a6b85de70687c18f1adefb815c3966137fc776f349832f7ae7a07ae","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"28f23e731a6b85de70687c18f1adefb815c3966137fc776f349832f7ae7a07ae","first_computed_at":"2026-05-18T02:39:56.169815Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:39:56.169815Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6/NndSyrrg6t3aig+PsyZNZwgdtLg+35QdHJvRgdJm5dPXkje0KHGWMMfWBsjgW8xS6rLyGosCV8yiQAnGEvBw==","signature_status":"signed_v1","signed_at":"2026-05-18T02:39:56.170359Z","signed_message":"canonical_sha256_bytes"},"source_id":"1410.4426","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:69b6647164e3c42be30bd9be35629050b6f0b6001a0962a95833c0f466ebb7e6","sha256:71b4d0e07a2f1338646e80e103a752c893d704fb6d3d36f5bb87daa737fc55ed"],"state_sha256":"de07dd86fed4577df3c11f3368e50c43471672fe837f05d4d3448875b4df9260"}