{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:MGXYX57ST5WFPMXQNN7OSPYUCK","short_pith_number":"pith:MGXYX57S","schema_version":"1.0","canonical_sha256":"61af8bf7f29f6c57b2f06b7ee93f14128ac52b18a057080cf043a9f3d5725902","source":{"kind":"arxiv","id":"1904.02833","version":1},"attestation_state":"computed","paper":{"title":"A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cagdas Onal, Jie Fu, Kenny Erleben, Miles Macklin, Renato Gasoto, Xuan Liu, Yinan Sun","submitted_at":"2019-04-05T00:24:55Z","abstract_excerpt":"In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect of actuator latency and damping under inflation and deflation and demonstrate its accuracy a full soft robotic snake with the composition of multiple 1D actuators. We verify our model's accuracy in static deformation and dynamic locomotion open-loop control experiments. To achieve real-time performa"},"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":"1904.02833","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-05T00:24:55Z","cross_cats_sorted":[],"title_canon_sha256":"2b34d090542e170d6eb5bdc7e08fe1d07e208d33dba3e53824a35285198c692b","abstract_canon_sha256":"ebaaed5aaa94379602bfe4fa478641a4c111825d12224ef1ac9a29403f406e3d"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:49:19.506870Z","signature_b64":"fPVkqhtUb6IAuyJWMo3J2+qTMycBGS0zKreO+kvppB0ctPNbAJmj/EHhAIUXiTKZ6/bymIflr1Toge9qWTy3Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"61af8bf7f29f6c57b2f06b7ee93f14128ac52b18a057080cf043a9f3d5725902","last_reissued_at":"2026-05-17T23:49:19.506373Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:49:19.506373Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cagdas Onal, Jie Fu, Kenny Erleben, Miles Macklin, Renato Gasoto, Xuan Liu, Yinan Sun","submitted_at":"2019-04-05T00:24:55Z","abstract_excerpt":"In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect of actuator latency and damping under inflation and deflation and demonstrate its accuracy a full soft robotic snake with the composition of multiple 1D actuators. We verify our model's accuracy in static deformation and dynamic locomotion open-loop control experiments. To achieve real-time performa"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.02833","kind":"arxiv","version":1},"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":"1904.02833","created_at":"2026-05-17T23:49:19.506451+00:00"},{"alias_kind":"arxiv_version","alias_value":"1904.02833v1","created_at":"2026-05-17T23:49:19.506451+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.02833","created_at":"2026-05-17T23:49:19.506451+00:00"},{"alias_kind":"pith_short_12","alias_value":"MGXYX57ST5WF","created_at":"2026-05-18T12:33:21.387695+00:00"},{"alias_kind":"pith_short_16","alias_value":"MGXYX57ST5WFPMXQ","created_at":"2026-05-18T12:33:21.387695+00:00"},{"alias_kind":"pith_short_8","alias_value":"MGXYX57S","created_at":"2026-05-18T12:33:21.387695+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/MGXYX57ST5WFPMXQNN7OSPYUCK","json":"https://pith.science/pith/MGXYX57ST5WFPMXQNN7OSPYUCK.json","graph_json":"https://pith.science/api/pith-number/MGXYX57ST5WFPMXQNN7OSPYUCK/graph.json","events_json":"https://pith.science/api/pith-number/MGXYX57ST5WFPMXQNN7OSPYUCK/events.json","paper":"https://pith.science/paper/MGXYX57S"},"agent_actions":{"view_html":"https://pith.science/pith/MGXYX57ST5WFPMXQNN7OSPYUCK","download_json":"https://pith.science/pith/MGXYX57ST5WFPMXQNN7OSPYUCK.json","view_paper":"https://pith.science/paper/MGXYX57S","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1904.02833&json=true","fetch_graph":"https://pith.science/api/pith-number/MGXYX57ST5WFPMXQNN7OSPYUCK/graph.json","fetch_events":"https://pith.science/api/pith-number/MGXYX57ST5WFPMXQNN7OSPYUCK/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/MGXYX57ST5WFPMXQNN7OSPYUCK/action/timestamp_anchor","attest_storage":"https://pith.science/pith/MGXYX57ST5WFPMXQNN7OSPYUCK/action/storage_attestation","attest_author":"https://pith.science/pith/MGXYX57ST5WFPMXQNN7OSPYUCK/action/author_attestation","sign_citation":"https://pith.science/pith/MGXYX57ST5WFPMXQNN7OSPYUCK/action/citation_signature","submit_replication":"https://pith.science/pith/MGXYX57ST5WFPMXQNN7OSPYUCK/action/replication_record"}},"created_at":"2026-05-17T23:49:19.506451+00:00","updated_at":"2026-05-17T23:49:19.506451+00:00"}