{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:J4MKIE4JTLACUFALMB3DLKJEN2","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":"0ea0a05992d02540628eb8eba0f987ba501fd5b9639caedd2d06b7468384f6c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-15T14:26:47Z","title_canon_sha256":"4f0df4d07cb74c29ad4724b213de51a41091ddde7f97e398f045845ffe3006fe"},"schema_version":"1.0","source":{"id":"1907.06518","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.06518","created_at":"2026-05-17T23:40:37Z"},{"alias_kind":"arxiv_version","alias_value":"1907.06518v1","created_at":"2026-05-17T23:40:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.06518","created_at":"2026-05-17T23:40:37Z"},{"alias_kind":"pith_short_12","alias_value":"J4MKIE4JTLAC","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"J4MKIE4JTLACUFAL","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"J4MKIE4J","created_at":"2026-05-18T12:33:18Z"}],"graph_snapshots":[{"event_id":"sha256:3ab082fcd5ecff29c53b658d2c3d3df9485cf3099b285c8a215ff72bfccbf3aa","target":"graph","created_at":"2026-05-17T23:40:37Z","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":"Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new kinematic model for a novel constant-length continuum robot that incorporates both soft and rigid elements. In contrast to traditional pneumatically actuated, variable-length continuum arms, the proposed design utilizes a hyper-redundant rigid chain to provide extra structural strength. The proposed model introduces a reduced-order mapping to account for mechani","authors_text":"Ali A. Nazari, Diego Castro, Isuru S. Godage","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-15T14:26:47Z","title":"Forward and Inverse Kinematics of a Single Section Inextensible Continuum Arm"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.06518","kind":"arxiv","version":1},"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":"sha256:334f020b1223d9b1f64781d98f12aeb37415b23cf0c365aba69f22bbc6b3b8d2","target":"record","created_at":"2026-05-17T23:40:37Z","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":"0ea0a05992d02540628eb8eba0f987ba501fd5b9639caedd2d06b7468384f6c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-15T14:26:47Z","title_canon_sha256":"4f0df4d07cb74c29ad4724b213de51a41091ddde7f97e398f045845ffe3006fe"},"schema_version":"1.0","source":{"id":"1907.06518","kind":"arxiv","version":1}},"canonical_sha256":"4f18a413899ac02a140b607635a9246eb041f5e1729af9bc6952faf0aa0b417c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4f18a413899ac02a140b607635a9246eb041f5e1729af9bc6952faf0aa0b417c","first_computed_at":"2026-05-17T23:40:37.518144Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:40:37.518144Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"nW87RYs3l5BkqP3wnI3bil0EPfT9DdmRMxi9OPM+a/pcpvVRUJEDrGVKNGu5VxasefuiQ9qWJ3uroihMOdjACQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:40:37.519017Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.06518","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:334f020b1223d9b1f64781d98f12aeb37415b23cf0c365aba69f22bbc6b3b8d2","sha256:3ab082fcd5ecff29c53b658d2c3d3df9485cf3099b285c8a215ff72bfccbf3aa"],"state_sha256":"4be2989f48f586919a7d12e793ebbe5c495efbaae5dcfb5fee179b4677f24564"}