{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:IBZ7Y2ZUIOSAKS3TIMKPCK3WJR","short_pith_number":"pith:IBZ7Y2ZU","schema_version":"1.0","canonical_sha256":"4073fc6b3443a4054b734314f12b764c57adb135641caa46deca2dddcbd76e06","source":{"kind":"arxiv","id":"2412.18294","version":1},"attestation_state":"computed","paper":{"title":"An Optimized Path Planning of Manipulator Using Spline Curves and Real Quantifier Elimination Based on Comprehensive Gr\\\"obner Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SC"],"primary_cat":"cs.RO","authors_text":"Akira Terui, Masahiko Mikawa, Natsumi Oka, Yusuke Shirato","submitted_at":"2024-12-24T09:02:57Z","abstract_excerpt":"This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and orientation of the end-effector. Furthermore, the path planning problem seeks a trajectory between two points. Traditional approaches in computer algebra have utilized Gr\\\"obner basis computations to solve these problems, offering a global solution but at a high computational cost. To overcome the issue, the present authors have proposed a novel approach that employs"},"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":"2412.18294","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-24T09:02:57Z","cross_cats_sorted":["cs.SC"],"title_canon_sha256":"86af10c5fa51edf03f7b77494e3cf43564560f20dd6577c4bfc50dd49cab7042","abstract_canon_sha256":"1f7e749adff273647c9dd9dd06a0cfcadf430079d5066a30c7d459643b9ffddb"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:53:53.440115Z","signature_b64":"Jspy9qp3ZCvbPZO2RBKtgXlO1+5K+mNdN4Vi6/vD+yd2ojYETOdLMr256PcVP0eOYDOTMgsH4j2hBRBEiSobCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4073fc6b3443a4054b734314f12b764c57adb135641caa46deca2dddcbd76e06","last_reissued_at":"2026-07-05T09:53:53.439642Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:53:53.439642Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"An Optimized Path Planning of Manipulator Using Spline Curves and Real Quantifier Elimination Based on Comprehensive Gr\\\"obner Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SC"],"primary_cat":"cs.RO","authors_text":"Akira Terui, Masahiko Mikawa, Natsumi Oka, Yusuke Shirato","submitted_at":"2024-12-24T09:02:57Z","abstract_excerpt":"This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and orientation of the end-effector. Furthermore, the path planning problem seeks a trajectory between two points. Traditional approaches in computer algebra have utilized Gr\\\"obner basis computations to solve these problems, offering a global solution but at a high computational cost. To overcome the issue, the present authors have proposed a novel approach that employs"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.18294","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/2412.18294/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":"2412.18294","created_at":"2026-07-05T09:53:53.439702+00:00"},{"alias_kind":"arxiv_version","alias_value":"2412.18294v1","created_at":"2026-07-05T09:53:53.439702+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.18294","created_at":"2026-07-05T09:53:53.439702+00:00"},{"alias_kind":"pith_short_12","alias_value":"IBZ7Y2ZUIOSA","created_at":"2026-07-05T09:53:53.439702+00:00"},{"alias_kind":"pith_short_16","alias_value":"IBZ7Y2ZUIOSAKS3T","created_at":"2026-07-05T09:53:53.439702+00:00"},{"alias_kind":"pith_short_8","alias_value":"IBZ7Y2ZU","created_at":"2026-07-05T09:53:53.439702+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/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR","json":"https://pith.science/pith/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR.json","graph_json":"https://pith.science/api/pith-number/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR/graph.json","events_json":"https://pith.science/api/pith-number/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR/events.json","paper":"https://pith.science/paper/IBZ7Y2ZU"},"agent_actions":{"view_html":"https://pith.science/pith/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR","download_json":"https://pith.science/pith/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR.json","view_paper":"https://pith.science/paper/IBZ7Y2ZU","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2412.18294&json=true","fetch_graph":"https://pith.science/api/pith-number/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR/graph.json","fetch_events":"https://pith.science/api/pith-number/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR/action/timestamp_anchor","attest_storage":"https://pith.science/pith/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR/action/storage_attestation","attest_author":"https://pith.science/pith/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR/action/author_attestation","sign_citation":"https://pith.science/pith/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR/action/citation_signature","submit_replication":"https://pith.science/pith/IBZ7Y2ZUIOSAKS3TIMKPCK3WJR/action/replication_record"}},"created_at":"2026-07-05T09:53:53.439702+00:00","updated_at":"2026-07-05T09:53:53.439702+00:00"}