{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:GK5BHIGE7P3N5YBVNGOAEH2D3L","short_pith_number":"pith:GK5BHIGE","canonical_record":{"source":{"id":"2207.06988","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-14T15:16:46Z","cross_cats_sorted":[],"title_canon_sha256":"f36cc25aad4c523839ac14194c617f8d8cace882f7c91e8965e03379fc27d3aa","abstract_canon_sha256":"abf0fdae01db880fa2b97ee08ed718c67d364961d787286618becb2c530e9b57"},"schema_version":"1.0"},"canonical_sha256":"32ba13a0c4fbf6dee035699c021f43daf0135f184be643bdce0edd147a7b90a6","source":{"kind":"arxiv","id":"2207.06988","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.06988","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"arxiv_version","alias_value":"2207.06988v2","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.06988","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"pith_short_12","alias_value":"GK5BHIGE7P3N","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"pith_short_16","alias_value":"GK5BHIGE7P3N5YBV","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"pith_short_8","alias_value":"GK5BHIGE","created_at":"2026-07-05T06:33:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:GK5BHIGE7P3N5YBVNGOAEH2D3L","target":"record","payload":{"canonical_record":{"source":{"id":"2207.06988","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-14T15:16:46Z","cross_cats_sorted":[],"title_canon_sha256":"f36cc25aad4c523839ac14194c617f8d8cace882f7c91e8965e03379fc27d3aa","abstract_canon_sha256":"abf0fdae01db880fa2b97ee08ed718c67d364961d787286618becb2c530e9b57"},"schema_version":"1.0"},"canonical_sha256":"32ba13a0c4fbf6dee035699c021f43daf0135f184be643bdce0edd147a7b90a6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:33:40.617463Z","signature_b64":"tgMfLXrMeOqgkhanAKmhglOMiyUrxnZtbZ52/zuH2K+J8GKkWunzrcXCa3QXO5xpKs3Ib+bmwEKg/D0Pjq+PCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"32ba13a0c4fbf6dee035699c021f43daf0135f184be643bdce0edd147a7b90a6","last_reissued_at":"2026-07-05T06:33:40.616845Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:33:40.616845Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2207.06988","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:33:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xvsA+uVIvd7PLabziLwHtUGEBmWtPk3HKiJiYIzEYXxS+ayd0vDKhnFFiQfa+g6pD5/SOFu4kurTMup6rgL+Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T02:50:29.116694Z"},"content_sha256":"639e505ca9f270252db46b396759432a2d774b6a8a9415ff31a5bccb3237a8cc","schema_version":"1.0","event_id":"sha256:639e505ca9f270252db46b396759432a2d774b6a8a9415ff31a5bccb3237a8cc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:GK5BHIGE7P3N5YBVNGOAEH2D3L","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"The Wheelbot: A Jumping Reaction Wheel Unicycle","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"A. Ren\\'e Geist, Jonathan Fiene, Naomi Tashiro, Sebastian Trimpe, Zheng Jia","submitted_at":"2022-07-14T15:16:46Z","abstract_excerpt":"Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.06988","kind":"arxiv","version":2},"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/2207.06988/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":"2026-07-05T06:33:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/RKqgpdj/BEyQzTP0a6bs9pj5MqiIKC2zt9kUMhDSkgdxwByoAy65dooYcTe6GH0Q2UJjMex5CuMWVMmqdooAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T02:50:29.117226Z"},"content_sha256":"9a03f0de5718254ec97f7df6e232a076080193f385f9bd4e24d1b318b8b6d562","schema_version":"1.0","event_id":"sha256:9a03f0de5718254ec97f7df6e232a076080193f385f9bd4e24d1b318b8b6d562"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GK5BHIGE7P3N5YBVNGOAEH2D3L/bundle.json","state_url":"https://pith.science/pith/GK5BHIGE7P3N5YBVNGOAEH2D3L/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GK5BHIGE7P3N5YBVNGOAEH2D3L/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":"2026-08-05T02:50:29Z","links":{"resolver":"https://pith.science/pith/GK5BHIGE7P3N5YBVNGOAEH2D3L","bundle":"https://pith.science/pith/GK5BHIGE7P3N5YBVNGOAEH2D3L/bundle.json","state":"https://pith.science/pith/GK5BHIGE7P3N5YBVNGOAEH2D3L/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GK5BHIGE7P3N5YBVNGOAEH2D3L/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:GK5BHIGE7P3N5YBVNGOAEH2D3L","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":"abf0fdae01db880fa2b97ee08ed718c67d364961d787286618becb2c530e9b57","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-14T15:16:46Z","title_canon_sha256":"f36cc25aad4c523839ac14194c617f8d8cace882f7c91e8965e03379fc27d3aa"},"schema_version":"1.0","source":{"id":"2207.06988","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.06988","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"arxiv_version","alias_value":"2207.06988v2","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.06988","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"pith_short_12","alias_value":"GK5BHIGE7P3N","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"pith_short_16","alias_value":"GK5BHIGE7P3N5YBV","created_at":"2026-07-05T06:33:40Z"},{"alias_kind":"pith_short_8","alias_value":"GK5BHIGE","created_at":"2026-07-05T06:33:40Z"}],"graph_snapshots":[{"event_id":"sha256:9a03f0de5718254ec97f7df6e232a076080193f385f9bd4e24d1b318b8b6d562","target":"graph","created_at":"2026-07-05T06:33:40Z","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/2207.06988/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing.","authors_text":"A. Ren\\'e Geist, Jonathan Fiene, Naomi Tashiro, Sebastian Trimpe, Zheng Jia","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-14T15:16:46Z","title":"The Wheelbot: A Jumping Reaction Wheel Unicycle"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.06988","kind":"arxiv","version":2},"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":"sha256:639e505ca9f270252db46b396759432a2d774b6a8a9415ff31a5bccb3237a8cc","target":"record","created_at":"2026-07-05T06:33:40Z","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":"abf0fdae01db880fa2b97ee08ed718c67d364961d787286618becb2c530e9b57","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-14T15:16:46Z","title_canon_sha256":"f36cc25aad4c523839ac14194c617f8d8cace882f7c91e8965e03379fc27d3aa"},"schema_version":"1.0","source":{"id":"2207.06988","kind":"arxiv","version":2}},"canonical_sha256":"32ba13a0c4fbf6dee035699c021f43daf0135f184be643bdce0edd147a7b90a6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"32ba13a0c4fbf6dee035699c021f43daf0135f184be643bdce0edd147a7b90a6","first_computed_at":"2026-07-05T06:33:40.616845Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:33:40.616845Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tgMfLXrMeOqgkhanAKmhglOMiyUrxnZtbZ52/zuH2K+J8GKkWunzrcXCa3QXO5xpKs3Ib+bmwEKg/D0Pjq+PCA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:33:40.617463Z","signed_message":"canonical_sha256_bytes"},"source_id":"2207.06988","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:639e505ca9f270252db46b396759432a2d774b6a8a9415ff31a5bccb3237a8cc","sha256:9a03f0de5718254ec97f7df6e232a076080193f385f9bd4e24d1b318b8b6d562"],"state_sha256":"06849a1e15e0b18345fd4dfc0268be7d9ee62ee08fa7591aca4c5a57bcd84559"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NzKYB3tGFfnqSKXOTznGVz2cyezSARNSoU31EbmI0YJGbzFKISgCOwxrQPxdtX8rOrl5SwnhNhMfaCqiUkMtAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T02:50:29.124222Z","bundle_sha256":"36e2c787adf854e4b7d9209551447d8071b831e85afba06a132fb5ff53428176"}}