Pith Number

pith:N6C472UW

pith:2025:N6C472UWYSTUZFNEV6CCYQFWSZ

not attested not anchored not stored refs pending

KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing

Kei Okada, Keita Yoneda, Kento Kawaharazuka, Takahiro Hattori, Temma Suzuki

arxiv:2507.06562 v2 · 2025-07-09 · cs.RO

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\usepackage{pith}
\pithnumber{N6C472UWYSTUZFNEV6CCYQFWSZ}

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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.

Cited by

1 paper in Pith

Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots

Receipt and verification

First computed	2026-07-05T11:34:54.148019Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6f85cfea96c4a74c95a4af842c40b696624a621e469920b6c6ef9068977ae202

Aliases

arxiv: 2507.06562 · arxiv_version: 2507.06562v2 · doi: 10.48550/arxiv.2507.06562 · pith_short_12: N6C472UWYSTU · pith_short_16: N6C472UWYSTUZFNE · pith_short_8: N6C472UW

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/N6C472UWYSTUZFNEV6CCYQFWSZ \
  | 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: 6f85cfea96c4a74c95a4af842c40b696624a621e469920b6c6ef9068977ae202

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6ff0764846cbcc3f2289bb0d1de6b6af1a5e0b3a5ffe3ca4878da3ea3a1c06ef",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-07-09T05:30:53Z",
    "title_canon_sha256": "126cffe1723568aff3fda3280bcee9448ea4b4df684bc9c4ba3e56cebc3cf5a3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2507.06562",
    "kind": "arxiv",
    "version": 2
  }
}