Pith Number

pith:LHH5AYIT

pith:2019:LHH5AYITBK5ZIHR64EYNQUYSJZ

not attested not anchored not stored refs pending

A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions

Christian Ott, Goobong Chung, Il Seop Choi, Jae Yeon Choi, Kyung-Lyong Han, Min Jun Kim, Wan Kyun Chung, Woongyong Lee

arxiv:1904.08833 v1 · 2019-04-18 · cs.RO · 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{LHH5AYITBK5ZIHR64EYNQUYSJZ}

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	2026-05-17T23:48:12.829950Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

59cfd061130abb941e3ee130d853124e7a8d0e393ef9881d838aa1a4c035297b

Aliases

arxiv: 1904.08833 · arxiv_version: 1904.08833v1 · doi: 10.48550/arxiv.1904.08833 · pith_short_12: LHH5AYITBK5Z · pith_short_16: LHH5AYITBK5ZIHR6 · pith_short_8: LHH5AYIT

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/LHH5AYITBK5ZIHR64EYNQUYSJZ \
  | 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: 59cfd061130abb941e3ee130d853124e7a8d0e393ef9881d838aa1a4c035297b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3e4f783314f784fc468271a74566804ea010bf95d238a30fa537a41915856d32",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-18T15:17:02Z",
    "title_canon_sha256": "cf80ea6cb730fc83a3b676bc92d33e20f49dad1c1fd5c9df004c98ac79c15722"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.08833",
    "kind": "arxiv",
    "version": 1
  }
}