{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:KDAOAMKTO54IK5EKHVEVE2WX7Q","short_pith_number":"pith:KDAOAMKT","schema_version":"1.0","canonical_sha256":"50c0e03153777885748a3d49526ad7fc38ea3500e36bc85fa25f1dab824f755d","source":{"kind":"arxiv","id":"2410.22000","version":1},"attestation_state":"computed","paper":{"title":"Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Kei Tsuzuki, Kento Kawaharazuka, Koji Kawasaki, Koki Shinjo, Masayuki Inaba, Moritaka Onitsuka, Shogo Makino, Tasuku Makabe, Yuki Asano, Yuya Nagamatsu","submitted_at":"2024-10-29T12:43:52Z","abstract_excerpt":"To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we develop joint modules that can directly measure joint angles, muscle modules that can realize various muscle routes, and nonlinear elastic units with soft structures, etc. Next, we develop MusashiLarm, a musculoskeletal platform composed of only joint modules, muscle modules, generic bone frames, muscle wire units, and a few attachments. Finally, we develop Mus"},"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":"2410.22000","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-29T12:43:52Z","cross_cats_sorted":[],"title_canon_sha256":"c6281c541748f8af58205b089a420d6401f0d73df572e8c182c6f069960aad4b","abstract_canon_sha256":"2056f108995ce4a19b4e129b545b252c6f6825626d04fa50659dfa402a4ea722"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:28:02.815423Z","signature_b64":"mUSYcO8CAmj9St4hNzSqAnsWVVBZQL7W/bt62pGFg1XxzhU1cDoLkjGUeEDgkF7Xe4CNArV6YSdqEa9n7Y7QAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"50c0e03153777885748a3d49526ad7fc38ea3500e36bc85fa25f1dab824f755d","last_reissued_at":"2026-07-05T09:28:02.814965Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:28:02.814965Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Kei Tsuzuki, Kento Kawaharazuka, Koji Kawasaki, Koki Shinjo, Masayuki Inaba, Moritaka Onitsuka, Shogo Makino, Tasuku Makabe, Yuki Asano, Yuya Nagamatsu","submitted_at":"2024-10-29T12:43:52Z","abstract_excerpt":"To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we develop joint modules that can directly measure joint angles, muscle modules that can realize various muscle routes, and nonlinear elastic units with soft structures, etc. Next, we develop MusashiLarm, a musculoskeletal platform composed of only joint modules, muscle modules, generic bone frames, muscle wire units, and a few attachments. Finally, we develop Mus"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.22000","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/2410.22000/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":"2410.22000","created_at":"2026-07-05T09:28:02.815025+00:00"},{"alias_kind":"arxiv_version","alias_value":"2410.22000v1","created_at":"2026-07-05T09:28:02.815025+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.22000","created_at":"2026-07-05T09:28:02.815025+00:00"},{"alias_kind":"pith_short_12","alias_value":"KDAOAMKTO54I","created_at":"2026-07-05T09:28:02.815025+00:00"},{"alias_kind":"pith_short_16","alias_value":"KDAOAMKTO54IK5EK","created_at":"2026-07-05T09:28:02.815025+00:00"},{"alias_kind":"pith_short_8","alias_value":"KDAOAMKT","created_at":"2026-07-05T09:28:02.815025+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/KDAOAMKTO54IK5EKHVEVE2WX7Q","json":"https://pith.science/pith/KDAOAMKTO54IK5EKHVEVE2WX7Q.json","graph_json":"https://pith.science/api/pith-number/KDAOAMKTO54IK5EKHVEVE2WX7Q/graph.json","events_json":"https://pith.science/api/pith-number/KDAOAMKTO54IK5EKHVEVE2WX7Q/events.json","paper":"https://pith.science/paper/KDAOAMKT"},"agent_actions":{"view_html":"https://pith.science/pith/KDAOAMKTO54IK5EKHVEVE2WX7Q","download_json":"https://pith.science/pith/KDAOAMKTO54IK5EKHVEVE2WX7Q.json","view_paper":"https://pith.science/paper/KDAOAMKT","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2410.22000&json=true","fetch_graph":"https://pith.science/api/pith-number/KDAOAMKTO54IK5EKHVEVE2WX7Q/graph.json","fetch_events":"https://pith.science/api/pith-number/KDAOAMKTO54IK5EKHVEVE2WX7Q/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/KDAOAMKTO54IK5EKHVEVE2WX7Q/action/timestamp_anchor","attest_storage":"https://pith.science/pith/KDAOAMKTO54IK5EKHVEVE2WX7Q/action/storage_attestation","attest_author":"https://pith.science/pith/KDAOAMKTO54IK5EKHVEVE2WX7Q/action/author_attestation","sign_citation":"https://pith.science/pith/KDAOAMKTO54IK5EKHVEVE2WX7Q/action/citation_signature","submit_replication":"https://pith.science/pith/KDAOAMKTO54IK5EKHVEVE2WX7Q/action/replication_record"}},"created_at":"2026-07-05T09:28:02.815025+00:00","updated_at":"2026-07-05T09:28:02.815025+00:00"}