Pith Number

pith:FWU2QOB2

pith:2022:FWU2QOB2BFWPF4U5ZNCWDYP76S

not attested not anchored not stored refs pending

Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics

Aaron D. Ames, Andrew J. Taylor, Farbod Farshidian, Manuel Y. Galliker, Marco Hutter, Noel Csomay-Shanklin, Ruben Grandia

arxiv:2203.07429 v2 · 2022-03-14 · 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{FWU2QOB2BFWPF4U5ZNCWDYP76S}

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

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control

Receipt and verification

First computed	2026-07-05T05:13:06.080566Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2da9a8383a096cf2f29dcb4561e1fff4bc6cbae4d45025e023bcbfb1689a1dd3

Aliases

arxiv: 2203.07429 · arxiv_version: 2203.07429v2 · doi: 10.48550/arxiv.2203.07429 · pith_short_12: FWU2QOB2BFWP · pith_short_16: FWU2QOB2BFWPF4U5 · pith_short_8: FWU2QOB2

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/FWU2QOB2BFWPF4U5ZNCWDYP76S \
  | 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: 2da9a8383a096cf2f29dcb4561e1fff4bc6cbae4d45025e023bcbfb1689a1dd3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c21fff0659b2d6148f47167c2eb0571b0abc3ede52fb2598e2516af28d8ca977",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-03-14T18:38:45Z",
    "title_canon_sha256": "39df22a1aba9e99c13d4e9c086542e6884d161a169363accaba8da92aa68a817"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2203.07429",
    "kind": "arxiv",
    "version": 2
  }
}