Pith Number

pith:GKQ3ZULV

pith:2026:GKQ3ZULVGYUJEQLU3WWQMCB3E2

not attested not anchored not stored refs pending

Actuator-Aware Inverse Kinematics with Joint-Limit Admissibility for Torque-Controlled Redundant Robots

Jouni Mattila, Mahdi Hejrati, Mohammad Dastranj

arxiv:2605.31436 v1 · 2026-05-29 · 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{GKQ3ZULVGYUJEQLU3WWQMCB3E2}

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	2026-06-01T02:04:05.673179Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

32a1bcd1753628924174ddad06083b26beb9116dd2fe0df3d82cbca3e09fcd15

Aliases

arxiv: 2605.31436 · arxiv_version: 2605.31436v1 · doi: 10.48550/arxiv.2605.31436 · pith_short_12: GKQ3ZULVGYUJ · pith_short_16: GKQ3ZULVGYUJEQLU · pith_short_8: GKQ3ZULV

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/GKQ3ZULVGYUJEQLU3WWQMCB3E2 \
  | 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: 32a1bcd1753628924174ddad06083b26beb9116dd2fe0df3d82cbca3e09fcd15

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4511492f557964a979c36c81d33551c9f51d52486439a825c4add3dfd940147b",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-29T15:33:10Z",
    "title_canon_sha256": "114aaf8ad624475f6205e48ed701aa485cc9b0a6164879e5b2651b16fc120871"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.31436",
    "kind": "arxiv",
    "version": 1
  }
}