Pith Number

pith:JRVZCPMN

pith:2019:JRVZCPMN6SVQETSSVHYICGJH2U

not attested not anchored not stored refs pending

Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances

Filippo M. Smaldone, Giuseppe Oriolo, Leonardo Lanari, Nicola Scianca, Valerio Modugno

arxiv:1907.06029 v1 · 2019-07-13 · eess.SY · cs.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{JRVZCPMN6SVQETSSVHYICGJH2U}

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	2026-05-17T23:40:42.637617Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4c6b913d8df4ab024e52a9f0811927d526f0d990db778cbafcbf5ac3609ab239

Aliases

arxiv: 1907.06029 · arxiv_version: 1907.06029v1 · doi: 10.48550/arxiv.1907.06029 · pith_short_12: JRVZCPMN6SVQ · pith_short_16: JRVZCPMN6SVQETSS · pith_short_8: JRVZCPMN

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/JRVZCPMN6SVQETSSVHYICGJH2U \
  | 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: 4c6b913d8df4ab024e52a9f0811927d526f0d990db778cbafcbf5ac3609ab239

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e97d13497f31608e08659c739657e50f6e2af50c4014f9e80c6ccfa507becd37",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2019-07-13T08:42:14Z",
    "title_canon_sha256": "d77ccdb6f768e70e9fab6ccdd0e0ad6013a524002ed290fe68d7280c24011278"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1907.06029",
    "kind": "arxiv",
    "version": 1
  }
}