{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:P7O5BWNKZOHT4C5S5PFLNS5TQQ","short_pith_number":"pith:P7O5BWNK","schema_version":"1.0","canonical_sha256":"7fddd0d9aacb8f3e0bb2ebcab6cbb3843cd33bd9fe79494cd8d993eb83ecad5f","source":{"kind":"arxiv","id":"2109.05714","version":4},"attestation_state":"computed","paper":{"title":"Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Jun Zeng, Koushil Sreenath, Shuxiao Chen, Zhongyu Li","submitted_at":"2021-09-13T05:36:14Z","abstract_excerpt":"Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its intrinsic dimension by crouching in order to travel underneath height-constrained regions. There are few mobile robots that are capable of handling such a challenge, and bipedal robots provide a solution. However, as bipedal robots have nonlinear and hybrid dynamics, trajectory planning while ensuring dynamic feasibility and safety on these robots is challenging. T"},"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":"2109.05714","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-13T05:36:14Z","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"title_canon_sha256":"3aded944035c2dd2bf995078c143a52e42a0d7d1811be8efda6a125277a0aff3","abstract_canon_sha256":"d522edd1c0b660d55114454b9ba75d100d20815d7ac94a4a9cda7ba040e5f5d3"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:30:23.567169Z","signature_b64":"Taof2pd8k0lHHzhfXdIaJ1zVgyeseHNvgnGvD02kHp0seJFmNAci8MAISJ3K+P8rsNPwg6QSmr1/ITGF+bPcAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7fddd0d9aacb8f3e0bb2ebcab6cbb3843cd33bd9fe79494cd8d993eb83ecad5f","last_reissued_at":"2026-07-05T06:30:23.566736Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:30:23.566736Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Jun Zeng, Koushil Sreenath, Shuxiao Chen, Zhongyu Li","submitted_at":"2021-09-13T05:36:14Z","abstract_excerpt":"Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its intrinsic dimension by crouching in order to travel underneath height-constrained regions. There are few mobile robots that are capable of handling such a challenge, and bipedal robots provide a solution. However, as bipedal robots have nonlinear and hybrid dynamics, trajectory planning while ensuring dynamic feasibility and safety on these robots is challenging. T"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.05714","kind":"arxiv","version":4},"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/2109.05714/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":"2109.05714","created_at":"2026-07-05T06:30:23.566804+00:00"},{"alias_kind":"arxiv_version","alias_value":"2109.05714v4","created_at":"2026-07-05T06:30:23.566804+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.05714","created_at":"2026-07-05T06:30:23.566804+00:00"},{"alias_kind":"pith_short_12","alias_value":"P7O5BWNKZOHT","created_at":"2026-07-05T06:30:23.566804+00:00"},{"alias_kind":"pith_short_16","alias_value":"P7O5BWNKZOHT4C5S","created_at":"2026-07-05T06:30:23.566804+00:00"},{"alias_kind":"pith_short_8","alias_value":"P7O5BWNK","created_at":"2026-07-05T06:30:23.566804+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/P7O5BWNKZOHT4C5S5PFLNS5TQQ","json":"https://pith.science/pith/P7O5BWNKZOHT4C5S5PFLNS5TQQ.json","graph_json":"https://pith.science/api/pith-number/P7O5BWNKZOHT4C5S5PFLNS5TQQ/graph.json","events_json":"https://pith.science/api/pith-number/P7O5BWNKZOHT4C5S5PFLNS5TQQ/events.json","paper":"https://pith.science/paper/P7O5BWNK"},"agent_actions":{"view_html":"https://pith.science/pith/P7O5BWNKZOHT4C5S5PFLNS5TQQ","download_json":"https://pith.science/pith/P7O5BWNKZOHT4C5S5PFLNS5TQQ.json","view_paper":"https://pith.science/paper/P7O5BWNK","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2109.05714&json=true","fetch_graph":"https://pith.science/api/pith-number/P7O5BWNKZOHT4C5S5PFLNS5TQQ/graph.json","fetch_events":"https://pith.science/api/pith-number/P7O5BWNKZOHT4C5S5PFLNS5TQQ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/P7O5BWNKZOHT4C5S5PFLNS5TQQ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/P7O5BWNKZOHT4C5S5PFLNS5TQQ/action/storage_attestation","attest_author":"https://pith.science/pith/P7O5BWNKZOHT4C5S5PFLNS5TQQ/action/author_attestation","sign_citation":"https://pith.science/pith/P7O5BWNKZOHT4C5S5PFLNS5TQQ/action/citation_signature","submit_replication":"https://pith.science/pith/P7O5BWNKZOHT4C5S5PFLNS5TQQ/action/replication_record"}},"created_at":"2026-07-05T06:30:23.566804+00:00","updated_at":"2026-07-05T06:30:23.566804+00:00"}