Pith Number

pith:HU42CW2I

pith:2021:HU42CW2IX5JE4YINEMQJWB3VSV

not attested not anchored not stored refs pending

Rough-Terrain Locomotion and Unilateral Contact Force Regulations With a Multi-Modal Legged Robot

Alireza Ramezani, Andrew Lessieur, Eric Sihite, Kaier Liang, Pravin Dangol

arxiv:2103.15952 v1 · 2021-03-29 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{HU42CW2IX5JE4YINEMQJWB3VSV}

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	2026-07-05T02:27:12.591848Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3d39a15b48bf524e610d23209b07759564d712dce2124e375bc4d75e75be34f3

Aliases

arxiv: 2103.15952 · arxiv_version: 2103.15952v1 · doi: 10.48550/arxiv.2103.15952 · pith_short_12: HU42CW2IX5JE · pith_short_16: HU42CW2IX5JE4YIN · pith_short_8: HU42CW2I

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/HU42CW2IX5JE4YINEMQJWB3VSV \
  | 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: 3d39a15b48bf524e610d23209b07759564d712dce2124e375bc4d75e75be34f3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "04236f5c6a14d6d9b4b97614983b384cc09dd267bce0b9ca890713540678ea67",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-29T20:56:54Z",
    "title_canon_sha256": "a92f1f7f3791ed7e16683459e60e31dbbd9c294959fa805d6046a5adaa417c16"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.15952",
    "kind": "arxiv",
    "version": 1
  }
}