Pith Number

pith:G5EZPI6I

pith:2022:G5EZPI6IL6DFHEW27BJ7PU6DSJ

not attested not anchored not stored refs pending

Dynamic Control of Soft Robotic Arm: An Experimental Study

Anthony L. Gunderman, Isuru S. Godage, Milad Azizkhani, Yue Chen

arxiv:2209.11332 v1 · 2022-09-22 · 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{G5EZPI6IL6DFHEW27BJ7PU6DSJ}

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	2026-07-05T05:00:19.360838Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

374997a3c85f865392daf853f7d3c3925f64a78ee004d4d2e879679d09f954c4

Aliases

arxiv: 2209.11332 · arxiv_version: 2209.11332v1 · doi: 10.48550/arxiv.2209.11332 · pith_short_12: G5EZPI6IL6DF · pith_short_16: G5EZPI6IL6DFHEW2 · pith_short_8: G5EZPI6I

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/G5EZPI6IL6DFHEW27BJ7PU6DSJ \
  | 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: 374997a3c85f865392daf853f7d3c3925f64a78ee004d4d2e879679d09f954c4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0255be0ef99a56e24b6c11bbc14316aad35ccb854011becf5f9c987ff305686c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-09-22T22:07:13Z",
    "title_canon_sha256": "25ea04819f577c0a02d28fb4928d93032211140f1bc3f9074be4514f4f81d6be"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.11332",
    "kind": "arxiv",
    "version": 1
  }
}