Pith Number

pith:O5IUK2JC

pith:2018:O5IUK2JCG3ADTWZAZFT42BZ2LG

not attested not anchored not stored refs pending

A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations

Aghil Yousefi-Koma, Arman Nikkhah, Farzad A. Shirazi, Fatemeh Nazemi, Majid Khadiv, Reihaneh Mirjalili

arxiv:1810.10270 v1 · 2018-10-24 · 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{O5IUK2JCG3ADTWZAZFT42BZ2LG}

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	2026-05-18T00:02:23.698189Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

775145692236c039db20c967cd073a5988b58666b719953ebe416070de417d62

Aliases

arxiv: 1810.10270 · arxiv_version: 1810.10270v1 · doi: 10.48550/arxiv.1810.10270 · pith_short_12: O5IUK2JCG3AD · pith_short_16: O5IUK2JCG3ADTWZA · pith_short_8: O5IUK2JC

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/O5IUK2JCG3ADTWZAZFT42BZ2LG \
  | 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: 775145692236c039db20c967cd073a5988b58666b719953ebe416070de417d62

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "999beb0a77fe96a7a756b392346fcd5563331f1785917ae498fad728b8d1d8ff",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-10-24T09:46:39Z",
    "title_canon_sha256": "a01dcf516af1b7275c4adf8f754798995726d256b16eff9f24f300adeadc90d3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1810.10270",
    "kind": "arxiv",
    "version": 1
  }
}