{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:O2SX7KRDU7PE3W6LUXUIEKJ55S","short_pith_number":"pith:O2SX7KRD","schema_version":"1.0","canonical_sha256":"76a57faa23a7de4ddbcba5e882293deca89497f59baa0091535cc2a334c6891f","source":{"kind":"arxiv","id":"2404.00514","version":3},"attestation_state":"computed","paper":{"title":"Human-Robot Co-Transportation using Disturbance-Aware MPC with Pose Optimization","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Al Jaber Mahmud, Amir Hossain Raj, Duc M. Nguyen, Weizi Li, Xuan Wang, Xuesu Xiao","submitted_at":"2024-03-31T01:21:55Z","abstract_excerpt":"This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization mechanism to more efficiently mitigate disturbances (such as human behavioral uncertainties or robot actuation noise) during the task. The core of our methodology involves a two-step iterative design: At each planning horizon, we determine the optimal pose of the robotic arm (joint angle configuration) from a candidate set, aiming to achieve the lowest estimat"},"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":"2404.00514","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-31T01:21:55Z","cross_cats_sorted":[],"title_canon_sha256":"dbaa81fb9f35b5f2694bd20f7b89bb73dfae29b963a35d4fa24c25a3d3687d47","abstract_canon_sha256":"2b417ca454a6a936c00ebbf394d988f8f5faff66e62a8a368a498e2589b76a89"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:23:15.587044Z","signature_b64":"a9K0JQFaDTBRt+wRWyigf1BISzo5czewoLcnf9VQMAwf84s2FZA+7RusuX/Wew9/o+u8eyBHROtcHQdTsECWAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"76a57faa23a7de4ddbcba5e882293deca89497f59baa0091535cc2a334c6891f","last_reissued_at":"2026-07-05T11:23:15.586485Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:23:15.586485Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Human-Robot Co-Transportation using Disturbance-Aware MPC with Pose Optimization","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Al Jaber Mahmud, Amir Hossain Raj, Duc M. Nguyen, Weizi Li, Xuan Wang, Xuesu Xiao","submitted_at":"2024-03-31T01:21:55Z","abstract_excerpt":"This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization mechanism to more efficiently mitigate disturbances (such as human behavioral uncertainties or robot actuation noise) during the task. The core of our methodology involves a two-step iterative design: At each planning horizon, we determine the optimal pose of the robotic arm (joint angle configuration) from a candidate set, aiming to achieve the lowest estimat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.00514","kind":"arxiv","version":3},"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/2404.00514/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":"2404.00514","created_at":"2026-07-05T11:23:15.586558+00:00"},{"alias_kind":"arxiv_version","alias_value":"2404.00514v3","created_at":"2026-07-05T11:23:15.586558+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.00514","created_at":"2026-07-05T11:23:15.586558+00:00"},{"alias_kind":"pith_short_12","alias_value":"O2SX7KRDU7PE","created_at":"2026-07-05T11:23:15.586558+00:00"},{"alias_kind":"pith_short_16","alias_value":"O2SX7KRDU7PE3W6L","created_at":"2026-07-05T11:23:15.586558+00:00"},{"alias_kind":"pith_short_8","alias_value":"O2SX7KRD","created_at":"2026-07-05T11:23:15.586558+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/O2SX7KRDU7PE3W6LUXUIEKJ55S","json":"https://pith.science/pith/O2SX7KRDU7PE3W6LUXUIEKJ55S.json","graph_json":"https://pith.science/api/pith-number/O2SX7KRDU7PE3W6LUXUIEKJ55S/graph.json","events_json":"https://pith.science/api/pith-number/O2SX7KRDU7PE3W6LUXUIEKJ55S/events.json","paper":"https://pith.science/paper/O2SX7KRD"},"agent_actions":{"view_html":"https://pith.science/pith/O2SX7KRDU7PE3W6LUXUIEKJ55S","download_json":"https://pith.science/pith/O2SX7KRDU7PE3W6LUXUIEKJ55S.json","view_paper":"https://pith.science/paper/O2SX7KRD","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2404.00514&json=true","fetch_graph":"https://pith.science/api/pith-number/O2SX7KRDU7PE3W6LUXUIEKJ55S/graph.json","fetch_events":"https://pith.science/api/pith-number/O2SX7KRDU7PE3W6LUXUIEKJ55S/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/O2SX7KRDU7PE3W6LUXUIEKJ55S/action/timestamp_anchor","attest_storage":"https://pith.science/pith/O2SX7KRDU7PE3W6LUXUIEKJ55S/action/storage_attestation","attest_author":"https://pith.science/pith/O2SX7KRDU7PE3W6LUXUIEKJ55S/action/author_attestation","sign_citation":"https://pith.science/pith/O2SX7KRDU7PE3W6LUXUIEKJ55S/action/citation_signature","submit_replication":"https://pith.science/pith/O2SX7KRDU7PE3W6LUXUIEKJ55S/action/replication_record"}},"created_at":"2026-07-05T11:23:15.586558+00:00","updated_at":"2026-07-05T11:23:15.586558+00:00"}