Pith Number

pith:FGNXSQFF

pith:2017:FGNXSQFFQMB3MLCT4E6HCO3EOZ

not attested not anchored not stored refs pending

Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots

2), (2) CNRS, (3) Toyota Research Institute (TRI)), Carlos Mastalli (1, Claudio Semini (1) ((1) Department of Advanced Robotics, Darwin G. Caldwell (1), Hongkai Dai (3), Istituto Italiano di Tecnologia (IIT), LAAS, Michele Focchi (1), Romeo Orsolino (1), University of Toulouse

arxiv:1712.06833 v4 · 2017-12-19 · 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{FGNXSQFFQMB3MLCT4E6HCO3EOZ}

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	2026-05-18T00:13:04.938241Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

299b7940a58303b62c53e13c713b64766d3dcb182d51abd2fa82b9006c0e442d

Aliases

arxiv: 1712.06833 · arxiv_version: 1712.06833v4 · doi: 10.48550/arxiv.1712.06833 · pith_short_12: FGNXSQFFQMB3 · pith_short_16: FGNXSQFFQMB3MLCT · pith_short_8: FGNXSQFF

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/FGNXSQFFQMB3MLCT4E6HCO3EOZ \
  | 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: 299b7940a58303b62c53e13c713b64766d3dcb182d51abd2fa82b9006c0e442d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "dd78fdf3f002ff257a2cbc4b75d8c86804c19e60ee4bf3949a05ef0af486ceec",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-12-19T09:20:03Z",
    "title_canon_sha256": "e64237ec391d5621bfaa5ca8c7589335220e3ac192f19a3629f68b45517fa7f6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1712.06833",
    "kind": "arxiv",
    "version": 4
  }
}