{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:LA3JE7EMOD2JUZR6BO7OEYTH3J","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":"fff8a116a5cab364dc471fdc2f94f070b8e40b7b4e261719ccdd3ca217b44361","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-18T11:46:30Z","title_canon_sha256":"be1fbd8d7e99a2aaae86a2d79cb394d02d8793b8d7fbc7304e61bae29f9f0c53"},"schema_version":"1.0","source":{"id":"2206.09185","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.09185","created_at":"2026-07-05T04:33:04Z"},{"alias_kind":"arxiv_version","alias_value":"2206.09185v1","created_at":"2026-07-05T04:33:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.09185","created_at":"2026-07-05T04:33:04Z"},{"alias_kind":"pith_short_12","alias_value":"LA3JE7EMOD2J","created_at":"2026-07-05T04:33:04Z"},{"alias_kind":"pith_short_16","alias_value":"LA3JE7EMOD2JUZR6","created_at":"2026-07-05T04:33:04Z"},{"alias_kind":"pith_short_8","alias_value":"LA3JE7EM","created_at":"2026-07-05T04:33:04Z"}],"graph_snapshots":[{"event_id":"sha256:683684f233eb68c6526f18e3877f2e730a0e837356f8cf31f67beb5eeeb973ba","target":"graph","created_at":"2026-07-05T04:33:04Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2206.09185/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with three important aspects: (i) synchronized timing for the handing over phases; (ii) the handling of object pose constraints; and (iii) understanding the haptic exchanging to seamlessly achieve some steps of the (i). We propose a new approach for (i) and (ii) consisting in explicitly formulating the handover process as constraints in a task-space quadratic progr","authors_text":"Abderrahmane Kheddar, Ahmed Zermane, Antonin Dallard, Mohamed Djeha, Pierre Gergondet","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-18T11:46:30Z","title":"Human-Robot Handovers using Task-Space Quadratic Programming"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.09185","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":"sha256:5a22368ae7eb6fa3643269b5416a738d7e4ae9256942cc9aa281f59c79561cf5","target":"record","created_at":"2026-07-05T04:33:04Z","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":"fff8a116a5cab364dc471fdc2f94f070b8e40b7b4e261719ccdd3ca217b44361","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-18T11:46:30Z","title_canon_sha256":"be1fbd8d7e99a2aaae86a2d79cb394d02d8793b8d7fbc7304e61bae29f9f0c53"},"schema_version":"1.0","source":{"id":"2206.09185","kind":"arxiv","version":1}},"canonical_sha256":"5836927c8c70f49a663e0bbee26267da4965adc7fa1c7363a48d5fb31435b83c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5836927c8c70f49a663e0bbee26267da4965adc7fa1c7363a48d5fb31435b83c","first_computed_at":"2026-07-05T04:33:04.925969Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:33:04.925969Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zRTWxnxtVH6/booJieVsb8puXfsPFu1whZ09WAJh2kSam/yiRJ8j4/1eKxXPkzilRLJH2YtmDqdAVerwy/t0Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:33:04.926457Z","signed_message":"canonical_sha256_bytes"},"source_id":"2206.09185","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5a22368ae7eb6fa3643269b5416a738d7e4ae9256942cc9aa281f59c79561cf5","sha256:683684f233eb68c6526f18e3877f2e730a0e837356f8cf31f67beb5eeeb973ba"],"state_sha256":"dae0980aa9630ef3d462e207eb6bafbe9f9fe8ae2eeb1464f8f0d3c900aed699"}