{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:LW5SGGGAJR4UQ4Z5RIK6D4MWJI","short_pith_number":"pith:LW5SGGGA","schema_version":"1.0","canonical_sha256":"5dbb2318c04c7948733d8a15e1f1964a0730ca1bfda08b73dd8894aada9212dc","source":{"kind":"arxiv","id":"1806.01384","version":2},"attestation_state":"computed","paper":{"title":"Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christos Papadimitriou, Garud Iyengar, Matei Ciocarlie, Maximilian Haas-Heger, Mihalis Yannakakis","submitted_at":"2018-06-04T21:01:37Z","abstract_excerpt":"This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the contacts. To obtain physically consistent results, such a model must account for friction phenomena at each contact; the difficulty is that friction forces depend in non-linear fashion on contact behavior (stick or slip). We develop the first polynomial-time algorithm which either solves such complex equilibrium constraints for two-dimensional grasps, or otherwise concludes that no solution exists. To achieve this, we "},"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":"1806.01384","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-04T21:01:37Z","cross_cats_sorted":[],"title_canon_sha256":"b347c0db8461e9c5256aa7dc1c762a4fd3e46b28292659731dae87994fe4fa9e","abstract_canon_sha256":"29f5004953d2250bae42789e3417b6def9e1a721172cf7cc32caa7fdafe82049"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:13:17.013910Z","signature_b64":"+CWPusdpFg5GVMNELYZT6loJwsPhak7XfO+aGU6CC4XXRDZn1I09g0m5hQrbjDaYLcJp883N1Ph+esfQGjkQCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5dbb2318c04c7948733d8a15e1f1964a0730ca1bfda08b73dd8894aada9212dc","last_reissued_at":"2026-05-18T00:13:17.013134Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:13:17.013134Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christos Papadimitriou, Garud Iyengar, Matei Ciocarlie, Maximilian Haas-Heger, Mihalis Yannakakis","submitted_at":"2018-06-04T21:01:37Z","abstract_excerpt":"This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the contacts. To obtain physically consistent results, such a model must account for friction phenomena at each contact; the difficulty is that friction forces depend in non-linear fashion on contact behavior (stick or slip). We develop the first polynomial-time algorithm which either solves such complex equilibrium constraints for two-dimensional grasps, or otherwise concludes that no solution exists. To achieve this, we "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.01384","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":""},"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":"1806.01384","created_at":"2026-05-18T00:13:17.013237+00:00"},{"alias_kind":"arxiv_version","alias_value":"1806.01384v2","created_at":"2026-05-18T00:13:17.013237+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.01384","created_at":"2026-05-18T00:13:17.013237+00:00"},{"alias_kind":"pith_short_12","alias_value":"LW5SGGGAJR4U","created_at":"2026-05-18T12:32:37.024351+00:00"},{"alias_kind":"pith_short_16","alias_value":"LW5SGGGAJR4UQ4Z5","created_at":"2026-05-18T12:32:37.024351+00:00"},{"alias_kind":"pith_short_8","alias_value":"LW5SGGGA","created_at":"2026-05-18T12:32:37.024351+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/LW5SGGGAJR4UQ4Z5RIK6D4MWJI","json":"https://pith.science/pith/LW5SGGGAJR4UQ4Z5RIK6D4MWJI.json","graph_json":"https://pith.science/api/pith-number/LW5SGGGAJR4UQ4Z5RIK6D4MWJI/graph.json","events_json":"https://pith.science/api/pith-number/LW5SGGGAJR4UQ4Z5RIK6D4MWJI/events.json","paper":"https://pith.science/paper/LW5SGGGA"},"agent_actions":{"view_html":"https://pith.science/pith/LW5SGGGAJR4UQ4Z5RIK6D4MWJI","download_json":"https://pith.science/pith/LW5SGGGAJR4UQ4Z5RIK6D4MWJI.json","view_paper":"https://pith.science/paper/LW5SGGGA","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1806.01384&json=true","fetch_graph":"https://pith.science/api/pith-number/LW5SGGGAJR4UQ4Z5RIK6D4MWJI/graph.json","fetch_events":"https://pith.science/api/pith-number/LW5SGGGAJR4UQ4Z5RIK6D4MWJI/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/LW5SGGGAJR4UQ4Z5RIK6D4MWJI/action/timestamp_anchor","attest_storage":"https://pith.science/pith/LW5SGGGAJR4UQ4Z5RIK6D4MWJI/action/storage_attestation","attest_author":"https://pith.science/pith/LW5SGGGAJR4UQ4Z5RIK6D4MWJI/action/author_attestation","sign_citation":"https://pith.science/pith/LW5SGGGAJR4UQ4Z5RIK6D4MWJI/action/citation_signature","submit_replication":"https://pith.science/pith/LW5SGGGAJR4UQ4Z5RIK6D4MWJI/action/replication_record"}},"created_at":"2026-05-18T00:13:17.013237+00:00","updated_at":"2026-05-18T00:13:17.013237+00:00"}