{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:GKQ3ZULVGYUJEQLU3WWQMCB3E2","short_pith_number":"pith:GKQ3ZULV","schema_version":"1.0","canonical_sha256":"32a1bcd1753628924174ddad06083b26beb9116dd2fe0df3d82cbca3e09fcd15","source":{"kind":"arxiv","id":"2605.31436","version":1},"attestation_state":"computed","paper":{"title":"Actuator-Aware Inverse Kinematics with Joint-Limit Admissibility for Torque-Controlled Redundant Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jouni Mattila, Mahdi Hejrati, Mohammad Dastranj","submitted_at":"2026-05-29T15:33:10Z","abstract_excerpt":"This paper proposes actuator-aware inverse kinematics for torque-controlled redundant robots under joint-limit constraints. In the considered architecture, the inverse-kinematic output is not merely a purely kinematic joint-velocity command; it is the required joint velocity supplied to a downstream torque-level controller. Therefore, a small commanded task residual may not necessarily improve realized motion. The proposed method formulates a convex quadratic programming problem whose decision variable is the joint-level required velocity. Control barrier function style bounds impose reference"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2605.31436","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-29T15:33:10Z","cross_cats_sorted":[],"title_canon_sha256":"114aaf8ad624475f6205e48ed701aa485cc9b0a6164879e5b2651b16fc120871","abstract_canon_sha256":"4511492f557964a979c36c81d33551c9f51d52486439a825c4add3dfd940147b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-01T02:04:05.674015Z","signature_b64":"9AKu3IWrh98TR3nqWAgAZQt7lsJ1HTr4Tet4/FgjgJQnBcS4BXnyit3O/AwAiTq4mdutTJf7oe9cBGd2DhEaCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"32a1bcd1753628924174ddad06083b26beb9116dd2fe0df3d82cbca3e09fcd15","last_reissued_at":"2026-06-01T02:04:05.673179Z","signature_status":"signed_v1","first_computed_at":"2026-06-01T02:04:05.673179Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Actuator-Aware Inverse Kinematics with Joint-Limit Admissibility for Torque-Controlled Redundant Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jouni Mattila, Mahdi Hejrati, Mohammad Dastranj","submitted_at":"2026-05-29T15:33:10Z","abstract_excerpt":"This paper proposes actuator-aware inverse kinematics for torque-controlled redundant robots under joint-limit constraints. In the considered architecture, the inverse-kinematic output is not merely a purely kinematic joint-velocity command; it is the required joint velocity supplied to a downstream torque-level controller. Therefore, a small commanded task residual may not necessarily improve realized motion. The proposed method formulates a convex quadratic programming problem whose decision variable is the joint-level required velocity. Control barrier function style bounds impose reference"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.31436","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/2605.31436/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2605.31436","created_at":"2026-06-01T02:04:05.673304+00:00"},{"alias_kind":"arxiv_version","alias_value":"2605.31436v1","created_at":"2026-06-01T02:04:05.673304+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.31436","created_at":"2026-06-01T02:04:05.673304+00:00"},{"alias_kind":"pith_short_12","alias_value":"GKQ3ZULVGYUJ","created_at":"2026-06-01T02:04:05.673304+00:00"},{"alias_kind":"pith_short_16","alias_value":"GKQ3ZULVGYUJEQLU","created_at":"2026-06-01T02:04:05.673304+00:00"},{"alias_kind":"pith_short_8","alias_value":"GKQ3ZULV","created_at":"2026-06-01T02:04:05.673304+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/GKQ3ZULVGYUJEQLU3WWQMCB3E2","json":"https://pith.science/pith/GKQ3ZULVGYUJEQLU3WWQMCB3E2.json","graph_json":"https://pith.science/api/pith-number/GKQ3ZULVGYUJEQLU3WWQMCB3E2/graph.json","events_json":"https://pith.science/api/pith-number/GKQ3ZULVGYUJEQLU3WWQMCB3E2/events.json","paper":"https://pith.science/paper/GKQ3ZULV"},"agent_actions":{"view_html":"https://pith.science/pith/GKQ3ZULVGYUJEQLU3WWQMCB3E2","download_json":"https://pith.science/pith/GKQ3ZULVGYUJEQLU3WWQMCB3E2.json","view_paper":"https://pith.science/paper/GKQ3ZULV","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2605.31436&json=true","fetch_graph":"https://pith.science/api/pith-number/GKQ3ZULVGYUJEQLU3WWQMCB3E2/graph.json","fetch_events":"https://pith.science/api/pith-number/GKQ3ZULVGYUJEQLU3WWQMCB3E2/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/GKQ3ZULVGYUJEQLU3WWQMCB3E2/action/timestamp_anchor","attest_storage":"https://pith.science/pith/GKQ3ZULVGYUJEQLU3WWQMCB3E2/action/storage_attestation","attest_author":"https://pith.science/pith/GKQ3ZULVGYUJEQLU3WWQMCB3E2/action/author_attestation","sign_citation":"https://pith.science/pith/GKQ3ZULVGYUJEQLU3WWQMCB3E2/action/citation_signature","submit_replication":"https://pith.science/pith/GKQ3ZULVGYUJEQLU3WWQMCB3E2/action/replication_record"}},"created_at":"2026-06-01T02:04:05.673304+00:00","updated_at":"2026-06-01T02:04:05.673304+00:00"}