{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:LJVZHTGXHVBEOOBNKWVIKSQXA2","short_pith_number":"pith:LJVZHTGX","schema_version":"1.0","canonical_sha256":"5a6b93ccd73d4247382d55aa854a1706a0833ece2183c1d0f1f22e624d343282","source":{"kind":"arxiv","id":"2011.07132","version":2},"attestation_state":"computed","paper":{"title":"Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Adam J. Spiers, Alp Sahin, Berk Calli","submitted_at":"2020-11-13T21:15:09Z","abstract_excerpt":"Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior work we presented a simple robot hand with variable friction robot fingers, which allow a low-complexity approach to within-hand object translation and rotation, though this manipulation was limited to planar actions. In this work we extend the capabilities of this system to 3D manipulation with a novel region-based WIHM planning algorithm and utilizing extrinsic contacts. The ability to modulate finger friction enha"},"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":"2011.07132","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-11-13T21:15:09Z","cross_cats_sorted":[],"title_canon_sha256":"d8140fb506c262bedbaf1c1c23c7bebd573562ccc04e7f41214ac26a8fd47dd7","abstract_canon_sha256":"b1ad636aa8503373aad89215d95b84e75928a52be7f3ae227b2fdbed1484600a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:42:02.722074Z","signature_b64":"cTskynxhOdzte+lN/eSZ/Y9oQrMop53l6Sm+IznFpqLXk3AjQdwFz9Rjv2X3aW4JW8qW4S52lWFJcNjw3KitDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5a6b93ccd73d4247382d55aa854a1706a0833ece2183c1d0f1f22e624d343282","last_reissued_at":"2026-07-05T02:42:02.721648Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:42:02.721648Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Adam J. Spiers, Alp Sahin, Berk Calli","submitted_at":"2020-11-13T21:15:09Z","abstract_excerpt":"Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior work we presented a simple robot hand with variable friction robot fingers, which allow a low-complexity approach to within-hand object translation and rotation, though this manipulation was limited to planar actions. In this work we extend the capabilities of this system to 3D manipulation with a novel region-based WIHM planning algorithm and utilizing extrinsic contacts. The ability to modulate finger friction enha"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.07132","kind":"arxiv","version":2},"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/2011.07132/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":"2011.07132","created_at":"2026-07-05T02:42:02.721697+00:00"},{"alias_kind":"arxiv_version","alias_value":"2011.07132v2","created_at":"2026-07-05T02:42:02.721697+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.07132","created_at":"2026-07-05T02:42:02.721697+00:00"},{"alias_kind":"pith_short_12","alias_value":"LJVZHTGXHVBE","created_at":"2026-07-05T02:42:02.721697+00:00"},{"alias_kind":"pith_short_16","alias_value":"LJVZHTGXHVBEOOBN","created_at":"2026-07-05T02:42:02.721697+00:00"},{"alias_kind":"pith_short_8","alias_value":"LJVZHTGX","created_at":"2026-07-05T02:42:02.721697+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/LJVZHTGXHVBEOOBNKWVIKSQXA2","json":"https://pith.science/pith/LJVZHTGXHVBEOOBNKWVIKSQXA2.json","graph_json":"https://pith.science/api/pith-number/LJVZHTGXHVBEOOBNKWVIKSQXA2/graph.json","events_json":"https://pith.science/api/pith-number/LJVZHTGXHVBEOOBNKWVIKSQXA2/events.json","paper":"https://pith.science/paper/LJVZHTGX"},"agent_actions":{"view_html":"https://pith.science/pith/LJVZHTGXHVBEOOBNKWVIKSQXA2","download_json":"https://pith.science/pith/LJVZHTGXHVBEOOBNKWVIKSQXA2.json","view_paper":"https://pith.science/paper/LJVZHTGX","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2011.07132&json=true","fetch_graph":"https://pith.science/api/pith-number/LJVZHTGXHVBEOOBNKWVIKSQXA2/graph.json","fetch_events":"https://pith.science/api/pith-number/LJVZHTGXHVBEOOBNKWVIKSQXA2/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/LJVZHTGXHVBEOOBNKWVIKSQXA2/action/timestamp_anchor","attest_storage":"https://pith.science/pith/LJVZHTGXHVBEOOBNKWVIKSQXA2/action/storage_attestation","attest_author":"https://pith.science/pith/LJVZHTGXHVBEOOBNKWVIKSQXA2/action/author_attestation","sign_citation":"https://pith.science/pith/LJVZHTGXHVBEOOBNKWVIKSQXA2/action/citation_signature","submit_replication":"https://pith.science/pith/LJVZHTGXHVBEOOBNKWVIKSQXA2/action/replication_record"}},"created_at":"2026-07-05T02:42:02.721697+00:00","updated_at":"2026-07-05T02:42:02.721697+00:00"}