Pith Number

pith:N5H3TMHB

pith:2016:N5H3TMHBJU3K27F2EHXHGFXA24

not attested not anchored not stored refs pending

Step Timing Adjustment: A Step toward Generating Robust Gaits

Alexander Herzog, Ludovic Righetti, Majid Khadiv, S. Ali. A. Moosavian

arxiv:1610.02377 v2 · 2016-10-07 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{N5H3TMHBJU3K27F2EHXHGFXA24}

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	2026-05-18T00:55:20.531112Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6f4fb9b0e14d36ad7cba21ee7316e0d71c3f022bcff85946af1f60bc5e19923a

Aliases

arxiv: 1610.02377 · arxiv_version: 1610.02377v2 · doi: 10.48550/arxiv.1610.02377 · pith_short_12: N5H3TMHBJU3K · pith_short_16: N5H3TMHBJU3K27F2 · pith_short_8: N5H3TMHB

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/N5H3TMHBJU3K27F2EHXHGFXA24 \
  | 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: 6f4fb9b0e14d36ad7cba21ee7316e0d71c3f022bcff85946af1f60bc5e19923a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d0b2ea7a581c2e3cdda57d0d43218516062add2a160c74f0e1bb4dc65b01fb30",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-10-07T19:06:38Z",
    "title_canon_sha256": "ebdf2994de7e6a1f0c0f124277c4b35c8dcc79f7a4be98cc0de6f830cb27047f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1610.02377",
    "kind": "arxiv",
    "version": 2
  }
}