Pith Number

pith:IXNTPTFQ

pith:2021:IXNTPTFQ3POZ2J64PTFKJQFPK6

not attested not anchored not stored refs pending

An Adaptive Control Algorithm for Quadruped Locomotion with Proprioceptive Linear Legs

Bingchen Jin, Chaoyang Song, Jianwen Luo, Ming Liu, Ye Zhao, Yueheng Zhou

arxiv:2107.12482 v2 · 2021-07-26 · 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{IXNTPTFQ3POZ2J64PTFKJQFPK6}

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	2026-07-05T03:53:48.633764Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

45db37ccb0dbdd9d27dc7ccaa4c0af579d0b91d18fe8d598ca5068ac3c7225ac

Aliases

arxiv: 2107.12482 · arxiv_version: 2107.12482v2 · doi: 10.48550/arxiv.2107.12482 · pith_short_12: IXNTPTFQ3POZ · pith_short_16: IXNTPTFQ3POZ2J64 · pith_short_8: IXNTPTFQ

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/IXNTPTFQ3POZ2J64PTFKJQFPK6 \
  | 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: 45db37ccb0dbdd9d27dc7ccaa4c0af579d0b91d18fe8d598ca5068ac3c7225ac

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "55c2a432ecab495564be446982741f2a580711e7134cc0ba919ef85cd606c276",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-07-26T21:07:04Z",
    "title_canon_sha256": "395660dcb7e1abc2f54029f46a6309c4010ab5db0eb1cf0e1a5b21cb0447f171"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2107.12482",
    "kind": "arxiv",
    "version": 2
  }
}