Pith Number

pith:FVGQWPDM

pith:2021:FVGQWPDMEBIDNJEM2NGNNDLWHY

not attested not anchored not stored refs pending

Footstep Adjustment for Biped Push Recovery on Slippery Surfaces

Erfan Ghorbani, Hossein Karimpour, Mehdi Keshmiri, Venus Pasandi

arxiv:2111.05203 v1 · 2021-11-09 · 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{FVGQWPDMEBIDNJEM2NGNNDLWHY}

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.

Cited by

1 paper in Pith

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control

Receipt and verification

First computed	2026-07-05T05:13:30.496381Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2d4d0b3c6c205036a48cd34cd68d763e1a9eccccd9d4d449ac6f3a6b01c50051

Aliases

arxiv: 2111.05203 · arxiv_version: 2111.05203v1 · doi: 10.48550/arxiv.2111.05203 · pith_short_12: FVGQWPDMEBID · pith_short_16: FVGQWPDMEBIDNJEM · pith_short_8: FVGQWPDM

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/FVGQWPDMEBIDNJEM2NGNNDLWHY \
  | 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: 2d4d0b3c6c205036a48cd34cd68d763e1a9eccccd9d4d449ac6f3a6b01c50051

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "df86a8b903660158311544357a148be43f3b33a442d6069ee6ae9f055d8c501f",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-09T15:28:32Z",
    "title_canon_sha256": "c9b8f32840b3a19ad73ec96ba81b82afada2fe0a348b177a9c0bbd69222d40f9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.05203",
    "kind": "arxiv",
    "version": 1
  }
}