Pith Number

pith:KUFPOUHN

pith:2022:KUFPOUHN4PLY5R6JYOU2VWTQYW

not attested not anchored not stored refs pending

A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration

(2) Human-Robot Interfaces, Arash Ajoudani (2) ((1) Graduate School of Science, Engineering, Genoa, Istituto Italiano di Tecnologia, Italy), Japan, Juan M. Gandarias (2), Mattia Leonori (2), Physical Interaction Lab, Pietro Balatti (2), Saitama, Saitama University, Toshiaki Tsuji (1), Yasuhiro Kato (1)

arxiv:2203.05413 v2 · 2022-03-10 · 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{KUFPOUHN4PLY5R6JYOU2VWTQYW}

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	2026-07-05T06:10:15.269468Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

550af750ede3d78ec7c9c3a9aada70c58b72491b0c7e66744a5102ece247a0bd

Aliases

arxiv: 2203.05413 · arxiv_version: 2203.05413v2 · doi: 10.48550/arxiv.2203.05413 · pith_short_12: KUFPOUHN4PLY · pith_short_16: KUFPOUHN4PLY5R6J · pith_short_8: KUFPOUHN

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/KUFPOUHN4PLY5R6JYOU2VWTQYW \
  | 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: 550af750ede3d78ec7c9c3a9aada70c58b72491b0c7e66744a5102ece247a0bd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ad5b66dd79face3aad898f3e006f1ccd89ef2176b479a7c91ce44d2a1c29d91b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-03-10T15:10:22Z",
    "title_canon_sha256": "5b42c4aa6ea783c4c271270fa2ae990bdf107667f0685f79ee4c81fabb684ecb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2203.05413",
    "kind": "arxiv",
    "version": 2
  }
}