{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:GG623POWFFAZXLKIG6Q576MF7W","short_pith_number":"pith:GG623POW","canonical_record":{"source":{"id":"2411.17727","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T21:34:51Z","cross_cats_sorted":[],"title_canon_sha256":"e300ff5a09793b52691751ca99f9fdf6c675abeba00cfd2c32f8dd2db285f8e4","abstract_canon_sha256":"ab940082594491d31074212ce9f05611c7bdcb2868640095400dae69a16db815"},"schema_version":"1.0"},"canonical_sha256":"31bdadbdd629419bad4837a1dff985fdb6890c5210f99817bfb9458f9c3bcf4c","source":{"kind":"arxiv","id":"2411.17727","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.17727","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"arxiv_version","alias_value":"2411.17727v1","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.17727","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"pith_short_12","alias_value":"GG623POWFFAZ","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"pith_short_16","alias_value":"GG623POWFFAZXLKI","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"pith_short_8","alias_value":"GG623POW","created_at":"2026-07-05T09:41:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:GG623POWFFAZXLKIG6Q576MF7W","target":"record","payload":{"canonical_record":{"source":{"id":"2411.17727","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T21:34:51Z","cross_cats_sorted":[],"title_canon_sha256":"e300ff5a09793b52691751ca99f9fdf6c675abeba00cfd2c32f8dd2db285f8e4","abstract_canon_sha256":"ab940082594491d31074212ce9f05611c7bdcb2868640095400dae69a16db815"},"schema_version":"1.0"},"canonical_sha256":"31bdadbdd629419bad4837a1dff985fdb6890c5210f99817bfb9458f9c3bcf4c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:41:05.864663Z","signature_b64":"Rpgt8BXUL1KkCo6Zl0DV+8a20xP1dJ9lJCRUbuMc0gA3+1sS0K2n6fJy7PhCLAPCJiszluZJTg21nFCoLN/NBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"31bdadbdd629419bad4837a1dff985fdb6890c5210f99817bfb9458f9c3bcf4c","last_reissued_at":"2026-07-05T09:41:05.864114Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:41:05.864114Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2411.17727","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:41:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"K1PNaj2Ml0862BFpPgR8zRZH1Ll8kCkuHLvr3cr3+xxgb2Lsq5JC8oSJObv825Yjhdo2JbKMJNrGZjY6BpFQBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T13:48:28.675199Z"},"content_sha256":"34badb108fb8e122e875720f8f0164382fdd6707c76bf4869ad4f333ba218a35","schema_version":"1.0","event_id":"sha256:34badb108fb8e122e875720f8f0164382fdd6707c76bf4869ad4f333ba218a35"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:GG623POWFFAZXLKIG6Q576MF7W","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Adarsh Salagame, Alireza Ramezani, Chenghao Wang, Eric Sihite, Kaushik Venkatesh Krishnamurthy, Morteza Gharib, Reza Nemovi, Shreyansh Pitroda, Taoran Liu","submitted_at":"2024-11-21T21:34:51Z","abstract_excerpt":"Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds using their wings to run on a nearly vertical wall. In this work, we developed a capture-point-based controller integrated with a quadratic programming (QP) solver which is used to create a thruster-assisted dynamic bipedal walking controller for our state-of-the-art Harpy platform. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.17727","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2411.17727/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:41:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GAGP1P2pG1c/kP+zYn7WkKoMjq/PHFcpyBdgh/BzLUmCFO4N2a4jJFXjf386r3AjjQZLNME+5KjHHKDr5PhcAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T13:48:28.675591Z"},"content_sha256":"59fab7ff857ad1c9c8391315a9504ccc946f33b963803f2e81f9c7438a8cad1a","schema_version":"1.0","event_id":"sha256:59fab7ff857ad1c9c8391315a9504ccc946f33b963803f2e81f9c7438a8cad1a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GG623POWFFAZXLKIG6Q576MF7W/bundle.json","state_url":"https://pith.science/pith/GG623POWFFAZXLKIG6Q576MF7W/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GG623POWFFAZXLKIG6Q576MF7W/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-06T13:48:28Z","links":{"resolver":"https://pith.science/pith/GG623POWFFAZXLKIG6Q576MF7W","bundle":"https://pith.science/pith/GG623POWFFAZXLKIG6Q576MF7W/bundle.json","state":"https://pith.science/pith/GG623POWFFAZXLKIG6Q576MF7W/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GG623POWFFAZXLKIG6Q576MF7W/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:GG623POWFFAZXLKIG6Q576MF7W","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":"ab940082594491d31074212ce9f05611c7bdcb2868640095400dae69a16db815","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T21:34:51Z","title_canon_sha256":"e300ff5a09793b52691751ca99f9fdf6c675abeba00cfd2c32f8dd2db285f8e4"},"schema_version":"1.0","source":{"id":"2411.17727","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.17727","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"arxiv_version","alias_value":"2411.17727v1","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.17727","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"pith_short_12","alias_value":"GG623POWFFAZ","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"pith_short_16","alias_value":"GG623POWFFAZXLKI","created_at":"2026-07-05T09:41:05Z"},{"alias_kind":"pith_short_8","alias_value":"GG623POW","created_at":"2026-07-05T09:41:05Z"}],"graph_snapshots":[{"event_id":"sha256:59fab7ff857ad1c9c8391315a9504ccc946f33b963803f2e81f9c7438a8cad1a","target":"graph","created_at":"2026-07-05T09:41:05Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2411.17727/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds using their wings to run on a nearly vertical wall. In this work, we developed a capture-point-based controller integrated with a quadratic programming (QP) solver which is used to create a thruster-assisted dynamic bipedal walking controller for our state-of-the-art Harpy platform. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and","authors_text":"Adarsh Salagame, Alireza Ramezani, Chenghao Wang, Eric Sihite, Kaushik Venkatesh Krishnamurthy, Morteza Gharib, Reza Nemovi, Shreyansh Pitroda, Taoran Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T21:34:51Z","title":"Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.17727","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":"sha256:34badb108fb8e122e875720f8f0164382fdd6707c76bf4869ad4f333ba218a35","target":"record","created_at":"2026-07-05T09:41:05Z","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":"ab940082594491d31074212ce9f05611c7bdcb2868640095400dae69a16db815","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T21:34:51Z","title_canon_sha256":"e300ff5a09793b52691751ca99f9fdf6c675abeba00cfd2c32f8dd2db285f8e4"},"schema_version":"1.0","source":{"id":"2411.17727","kind":"arxiv","version":1}},"canonical_sha256":"31bdadbdd629419bad4837a1dff985fdb6890c5210f99817bfb9458f9c3bcf4c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"31bdadbdd629419bad4837a1dff985fdb6890c5210f99817bfb9458f9c3bcf4c","first_computed_at":"2026-07-05T09:41:05.864114Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:41:05.864114Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Rpgt8BXUL1KkCo6Zl0DV+8a20xP1dJ9lJCRUbuMc0gA3+1sS0K2n6fJy7PhCLAPCJiszluZJTg21nFCoLN/NBA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:41:05.864663Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.17727","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:34badb108fb8e122e875720f8f0164382fdd6707c76bf4869ad4f333ba218a35","sha256:59fab7ff857ad1c9c8391315a9504ccc946f33b963803f2e81f9c7438a8cad1a"],"state_sha256":"3234ddf14dbbb4b298ce110f3ca66f0e975a7966da038b83a1b2e945b9f3c90f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aE0RfPTsSnwy0W2l97p9SlOo8jZg53zn2vnrlZ3xWXfU5cVOLVwMNuJ7yZOrPgWbXdCK5mxi6nHRsiixoLJ8Cg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T13:48:28.677665Z","bundle_sha256":"c480c906940a3e1c555bb9089889b1bbdcb76ed03e801f7716b402a642450725"}}