Pith Number

pith:OAFRZYWD

pith:2017:OAFRZYWD7WLOKU5KVIYIM5WWY4

not attested not anchored not stored refs pending

Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model

Benito R. Fernandez, Luis Sentis, Ye Zhao

arxiv:1708.06345 v1 · 2017-08-19 · cs.RO · cs.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{OAFRZYWD7WLOKU5KVIYIM5WWY4}

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	2026-05-18T00:37:41.801545Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

700b1ce2c3fd96e553aaaa308676d6c70ffa036f57ba1226a58cf6de3313a6a9

Aliases

arxiv: 1708.06345 · arxiv_version: 1708.06345v1 · doi: 10.48550/arxiv.1708.06345 · pith_short_12: OAFRZYWD7WLO · pith_short_16: OAFRZYWD7WLOKU5K · pith_short_8: OAFRZYWD

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/OAFRZYWD7WLOKU5KVIYIM5WWY4 \
  | 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: 700b1ce2c3fd96e553aaaa308676d6c70ffa036f57ba1226a58cf6de3313a6a9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "04daf317c9cac51122ebe6526047a3634d29b7a58509f546564fa46166daec1b",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-08-19T20:08:31Z",
    "title_canon_sha256": "94bcc81d6fa8e939cd6141171d0e1bd2bd77ffbdf9621eb390edce329da0564e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1708.06345",
    "kind": "arxiv",
    "version": 1
  }
}