{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:HKUK3UWOR4BECQIHUXIMLUMGDZ","short_pith_number":"pith:HKUK3UWO","canonical_record":{"source":{"id":"1804.06527","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-18T01:58:58Z","cross_cats_sorted":[],"title_canon_sha256":"b73d101d612c447df054a2372ec9e420a14e71bbf1f0dd43d1ce166dc84eee1a","abstract_canon_sha256":"c204e348684e20733506b92feed6f0e117345fb794ba6e8b61705351bb2f44fe"},"schema_version":"1.0"},"canonical_sha256":"3aa8add2ce8f02414107a5d0c5d1861e7e10be00a86cfee2ef1dd3eaadc30625","source":{"kind":"arxiv","id":"1804.06527","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.06527","created_at":"2026-05-18T00:06:04Z"},{"alias_kind":"arxiv_version","alias_value":"1804.06527v2","created_at":"2026-05-18T00:06:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.06527","created_at":"2026-05-18T00:06:04Z"},{"alias_kind":"pith_short_12","alias_value":"HKUK3UWOR4BE","created_at":"2026-05-18T12:32:28Z"},{"alias_kind":"pith_short_16","alias_value":"HKUK3UWOR4BECQIH","created_at":"2026-05-18T12:32:28Z"},{"alias_kind":"pith_short_8","alias_value":"HKUK3UWO","created_at":"2026-05-18T12:32:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:HKUK3UWOR4BECQIHUXIMLUMGDZ","target":"record","payload":{"canonical_record":{"source":{"id":"1804.06527","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-18T01:58:58Z","cross_cats_sorted":[],"title_canon_sha256":"b73d101d612c447df054a2372ec9e420a14e71bbf1f0dd43d1ce166dc84eee1a","abstract_canon_sha256":"c204e348684e20733506b92feed6f0e117345fb794ba6e8b61705351bb2f44fe"},"schema_version":"1.0"},"canonical_sha256":"3aa8add2ce8f02414107a5d0c5d1861e7e10be00a86cfee2ef1dd3eaadc30625","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:06:04.351302Z","signature_b64":"qNbOQI7zHzRbNXeHGG7t0velvyS0bHRTlRjQNeUQsy5Wsr9LgtH/zxEIRillwqfu9fldZTz5Q7C5/5PojRHKCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3aa8add2ce8f02414107a5d0c5d1861e7e10be00a86cfee2ef1dd3eaadc30625","last_reissued_at":"2026-05-18T00:06:04.350846Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:06:04.350846Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1804.06527","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":"2026-05-18T00:06:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B4GJteWUDnfHEtYd5jfJ5iJk26P3kr/3FOu3PmjniXK27pyfZxJd6St98yyuSYcDKc0CsKAMXbJdZzNUkrPvBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T02:15:17.023993Z"},"content_sha256":"6df1f0701ca3ca8e96df65db5a75aaf75a0b83229c803591fe713ada21944ddf","schema_version":"1.0","event_id":"sha256:6df1f0701ca3ca8e96df65db5a75aaf75a0b83229c803591fe713ada21944ddf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:HKUK3UWOR4BECQIHUXIMLUMGDZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Design, Simulation, and Testing of a Flexible Actuated Spine for Quadruped Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Adrian K. Agogino, Alice M. Agogino, Andrew P. Sabelhaus, Ankita Joshi, Edward Zhu, Hunter J. Garnier, Jesus Navarro, Kimberly A. Sover, Lara Janse van Vuuren","submitted_at":"2018-04-18T01:58:58Z","abstract_excerpt":"Walking quadruped robots face challenges in positioning their feet and lifting their legs during gait cycles over uneven terrain. The robot Laika is under development as a quadruped with a flexible, actuated spine designed to assist with foot movement and balance during these gaits. This paper presents the first set of hardware designs for the spine of Laika, a physical prototype of those designs, and tests in both hardware and simulations that show the prototype's capabilities. Laika's spine is a tensegrity structure, used for its advantages with weight and force distribution, and represents "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.06527","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":""},"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":"2026-05-18T00:06:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q8+LDiZu1JIVrHnopNi2gYSqvKaFgzZ+oowyul2rVs/yTGcKFErZGoYEpoTGkYtHnOEQ8DGA6A55NKoFuqrHDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T02:15:17.024607Z"},"content_sha256":"e4f7fdb2bcd29536ac83cc4fa059445e30556d6854ab396ce4aa634cb92096b3","schema_version":"1.0","event_id":"sha256:e4f7fdb2bcd29536ac83cc4fa059445e30556d6854ab396ce4aa634cb92096b3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HKUK3UWOR4BECQIHUXIMLUMGDZ/bundle.json","state_url":"https://pith.science/pith/HKUK3UWOR4BECQIHUXIMLUMGDZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HKUK3UWOR4BECQIHUXIMLUMGDZ/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":"2026-05-28T02:15:17Z","links":{"resolver":"https://pith.science/pith/HKUK3UWOR4BECQIHUXIMLUMGDZ","bundle":"https://pith.science/pith/HKUK3UWOR4BECQIHUXIMLUMGDZ/bundle.json","state":"https://pith.science/pith/HKUK3UWOR4BECQIHUXIMLUMGDZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HKUK3UWOR4BECQIHUXIMLUMGDZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:HKUK3UWOR4BECQIHUXIMLUMGDZ","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":"c204e348684e20733506b92feed6f0e117345fb794ba6e8b61705351bb2f44fe","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-18T01:58:58Z","title_canon_sha256":"b73d101d612c447df054a2372ec9e420a14e71bbf1f0dd43d1ce166dc84eee1a"},"schema_version":"1.0","source":{"id":"1804.06527","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.06527","created_at":"2026-05-18T00:06:04Z"},{"alias_kind":"arxiv_version","alias_value":"1804.06527v2","created_at":"2026-05-18T00:06:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.06527","created_at":"2026-05-18T00:06:04Z"},{"alias_kind":"pith_short_12","alias_value":"HKUK3UWOR4BE","created_at":"2026-05-18T12:32:28Z"},{"alias_kind":"pith_short_16","alias_value":"HKUK3UWOR4BECQIH","created_at":"2026-05-18T12:32:28Z"},{"alias_kind":"pith_short_8","alias_value":"HKUK3UWO","created_at":"2026-05-18T12:32:28Z"}],"graph_snapshots":[{"event_id":"sha256:e4f7fdb2bcd29536ac83cc4fa059445e30556d6854ab396ce4aa634cb92096b3","target":"graph","created_at":"2026-05-18T00:06:04Z","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"},"paper":{"abstract_excerpt":"Walking quadruped robots face challenges in positioning their feet and lifting their legs during gait cycles over uneven terrain. The robot Laika is under development as a quadruped with a flexible, actuated spine designed to assist with foot movement and balance during these gaits. This paper presents the first set of hardware designs for the spine of Laika, a physical prototype of those designs, and tests in both hardware and simulations that show the prototype's capabilities. Laika's spine is a tensegrity structure, used for its advantages with weight and force distribution, and represents ","authors_text":"Adrian K. Agogino, Alice M. Agogino, Andrew P. Sabelhaus, Ankita Joshi, Edward Zhu, Hunter J. Garnier, Jesus Navarro, Kimberly A. Sover, Lara Janse van Vuuren","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-18T01:58:58Z","title":"Design, Simulation, and Testing of a Flexible Actuated Spine for Quadruped Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.06527","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":"sha256:6df1f0701ca3ca8e96df65db5a75aaf75a0b83229c803591fe713ada21944ddf","target":"record","created_at":"2026-05-18T00:06:04Z","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":"c204e348684e20733506b92feed6f0e117345fb794ba6e8b61705351bb2f44fe","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-18T01:58:58Z","title_canon_sha256":"b73d101d612c447df054a2372ec9e420a14e71bbf1f0dd43d1ce166dc84eee1a"},"schema_version":"1.0","source":{"id":"1804.06527","kind":"arxiv","version":2}},"canonical_sha256":"3aa8add2ce8f02414107a5d0c5d1861e7e10be00a86cfee2ef1dd3eaadc30625","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3aa8add2ce8f02414107a5d0c5d1861e7e10be00a86cfee2ef1dd3eaadc30625","first_computed_at":"2026-05-18T00:06:04.350846Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:06:04.350846Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qNbOQI7zHzRbNXeHGG7t0velvyS0bHRTlRjQNeUQsy5Wsr9LgtH/zxEIRillwqfu9fldZTz5Q7C5/5PojRHKCw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:06:04.351302Z","signed_message":"canonical_sha256_bytes"},"source_id":"1804.06527","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6df1f0701ca3ca8e96df65db5a75aaf75a0b83229c803591fe713ada21944ddf","sha256:e4f7fdb2bcd29536ac83cc4fa059445e30556d6854ab396ce4aa634cb92096b3"],"state_sha256":"d7c81cd7ab65bd913e1233c69fc4f5861c7015a1e449df36d28a57ec53d98647"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uNcgDcBrh6ezRrABXMc9PGtIOQs+EC84mVT43v2AJRqDCJ+N2zRX7tZ8iS4bUcZDjhtDjKATGJdJkhAlwlrWCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T02:15:17.027597Z","bundle_sha256":"54128a80779ce7dfd24e8488ccd0d81e1ee915913b2dec766cc254ce9b41a153"}}