Pith Number

pith:L2YQZMD3

pith:2022:L2YQZMD3IOSY6S4IZBZE3MGCK5

not attested not anchored not stored refs pending

Torque Controlled Locomotion of a Biped Robot with Link Flexibility

Ewen Dantec, Guilhem Saurel, Maximilien Naveau, Nahuel A Villa, Nicolas Mansard, Olivier Stasse, Pierre Fernbach

arxiv:2210.15205 v1 · 2022-10-27 · 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{L2YQZMD3IOSY6S4IZBZE3MGCK5}

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	2026-07-05T05:11:03.517591Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5eb10cb07b43a58f4b88c8724db0c257625b81e8d7f2581c05e5d39e3bfa3a50

Aliases

arxiv: 2210.15205 · arxiv_version: 2210.15205v1 · doi: 10.48550/arxiv.2210.15205 · pith_short_12: L2YQZMD3IOSY · pith_short_16: L2YQZMD3IOSY6S4I · pith_short_8: L2YQZMD3

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/L2YQZMD3IOSY6S4IZBZE3MGCK5 \
  | 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: 5eb10cb07b43a58f4b88c8724db0c257625b81e8d7f2581c05e5d39e3bfa3a50

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "57887cddea451b88d93ad8d516a996686a516991a8cde3469550198affd5bd49",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2022-10-27T06:35:00Z",
    "title_canon_sha256": "670cb0c4b083dfd6722e7b391fa4a5702cec6eaf2ff2966231c9293e7741f454"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2210.15205",
    "kind": "arxiv",
    "version": 1
  }
}