Pith Number

pith:HZ4FI2BZ

pith:2011:HZ4FI2BZYAQEXKUFFHGG2RAD36

not attested not anchored not stored refs pending

Cartesian stiffness matrix of manipulators with passive joints: analytical approach

Alexandr Klimchik (IRCCyN), Anatoly Pashkevich (IRCCyN), Damien Chablat (IRCCyN), St\'ephane Caro (IRCCyN)

arxiv:1107.4496 v1 · 2011-07-22 · 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{HZ4FI2BZYAQEXKUFFHGG2RAD36}

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	2026-05-18T04:17:03.945951Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3e78546839c0204baa8529cc6d4403df826d89884b14469b638fc97d7c0db144

Aliases

arxiv: 1107.4496 · arxiv_version: 1107.4496v1 · doi: 10.48550/arxiv.1107.4496 · pith_short_12: HZ4FI2BZYAQE · pith_short_16: HZ4FI2BZYAQEXKUF · pith_short_8: HZ4FI2BZ

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/HZ4FI2BZYAQEXKUFFHGG2RAD36 \
  | 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: 3e78546839c0204baa8529cc6d4403df826d89884b14469b638fc97d7c0db144

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fd0977ef36a4ce172dd1e5825c53a11c5d8e2cac42ad3e7c7bb4706cb953ded6",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2011-07-22T12:38:32Z",
    "title_canon_sha256": "eb1dac4d71c810a207aeca4aeb8825c0fbdc4c7b2cea0ce1a88a8f7171dbc065"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1107.4496",
    "kind": "arxiv",
    "version": 1
  }
}