{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:PSNV6MVCSEGRDJ5NW3RRO2ZPG2","short_pith_number":"pith:PSNV6MVC","canonical_record":{"source":{"id":"2202.12646","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-25T12:10:55Z","cross_cats_sorted":[],"title_canon_sha256":"c0b953c2bda5799c1b0e4ad6bb12024aac4c775c8ddb3a3308a4ad107084953d","abstract_canon_sha256":"69bd044ea57f1c29ebd575f047f605d12f700b08be67719f636aa1e5775055b0"},"schema_version":"1.0"},"canonical_sha256":"7c9b5f32a2910d11a7adb6e3176b2f368d85048b23e24253ac55c3eeb0b5643d","source":{"kind":"arxiv","id":"2202.12646","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.12646","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"arxiv_version","alias_value":"2202.12646v1","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.12646","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"pith_short_12","alias_value":"PSNV6MVCSEGR","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"pith_short_16","alias_value":"PSNV6MVCSEGRDJ5N","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"pith_short_8","alias_value":"PSNV6MVC","created_at":"2026-07-05T07:01:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:PSNV6MVCSEGRDJ5NW3RRO2ZPG2","target":"record","payload":{"canonical_record":{"source":{"id":"2202.12646","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-25T12:10:55Z","cross_cats_sorted":[],"title_canon_sha256":"c0b953c2bda5799c1b0e4ad6bb12024aac4c775c8ddb3a3308a4ad107084953d","abstract_canon_sha256":"69bd044ea57f1c29ebd575f047f605d12f700b08be67719f636aa1e5775055b0"},"schema_version":"1.0"},"canonical_sha256":"7c9b5f32a2910d11a7adb6e3176b2f368d85048b23e24253ac55c3eeb0b5643d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:01:56.196834Z","signature_b64":"9f8CXwM9jmaNY6CVEI6lBpM5OM6ungDC2vwMwGo89UbgFYeQrsaZUbk8PLazoKSYJBAC5XK9Q4KZTHY3m+c8Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7c9b5f32a2910d11a7adb6e3176b2f368d85048b23e24253ac55c3eeb0b5643d","last_reissued_at":"2026-07-05T07:01:56.196410Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:01:56.196410Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2202.12646","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:01:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gS9r7y+n3X+oPsZ9gEkibg3vymYZjzG/USuQCOVnX7fqMR2wZWt7B1sQE/98HsgjQ6ewPUoDlkzttZkSKcp0AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T14:01:38.430474Z"},"content_sha256":"dc366e4c12291f3f28fddc1b709a56915502411ea147a6a1cc8f5d9b5bbee724","schema_version":"1.0","event_id":"sha256:dc366e4c12291f3f28fddc1b709a56915502411ea147a6a1cc8f5d9b5bbee724"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:PSNV6MVCSEGRDJ5NW3RRO2ZPG2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abderrahmane Kheddar, Niels Dehio, Yuquan Wang","submitted_at":"2022-02-25T12:10:55Z","abstract_excerpt":"In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential to enforce controller feasibility and hardware integrity. We observe a considerable prediction error of a commonly-used approach in robotics compared against 250 benchmark experiments with the Panda manipulator. We reduce the average prediction error by 81.98% as follows: First, we focus on task-space equations without inverting the ill-conditioned joint-space inertia matrix. Second, before the impact event, we compute the equivalent inertial properties of the end-effector tip considering that a hi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.12646","kind":"arxiv","version":1},"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/2202.12646/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:01:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Hyq1uCDM8nRQPHzkYAKwbxzSfRQsWTFYQ7NZmvY3wkNMQVh5J/+wNE4+6S/Hdr5/L8hZGaUiGT6RRMNKBHrxCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T14:01:38.430857Z"},"content_sha256":"20146958eec4056980717c09f639abeae38019a68908ade087f8926345d46cbc","schema_version":"1.0","event_id":"sha256:20146958eec4056980717c09f639abeae38019a68908ade087f8926345d46cbc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PSNV6MVCSEGRDJ5NW3RRO2ZPG2/bundle.json","state_url":"https://pith.science/pith/PSNV6MVCSEGRDJ5NW3RRO2ZPG2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PSNV6MVCSEGRDJ5NW3RRO2ZPG2/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-08T14:01:38Z","links":{"resolver":"https://pith.science/pith/PSNV6MVCSEGRDJ5NW3RRO2ZPG2","bundle":"https://pith.science/pith/PSNV6MVCSEGRDJ5NW3RRO2ZPG2/bundle.json","state":"https://pith.science/pith/PSNV6MVCSEGRDJ5NW3RRO2ZPG2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PSNV6MVCSEGRDJ5NW3RRO2ZPG2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:PSNV6MVCSEGRDJ5NW3RRO2ZPG2","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"69bd044ea57f1c29ebd575f047f605d12f700b08be67719f636aa1e5775055b0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-25T12:10:55Z","title_canon_sha256":"c0b953c2bda5799c1b0e4ad6bb12024aac4c775c8ddb3a3308a4ad107084953d"},"schema_version":"1.0","source":{"id":"2202.12646","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.12646","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"arxiv_version","alias_value":"2202.12646v1","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.12646","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"pith_short_12","alias_value":"PSNV6MVCSEGR","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"pith_short_16","alias_value":"PSNV6MVCSEGRDJ5N","created_at":"2026-07-05T07:01:56Z"},{"alias_kind":"pith_short_8","alias_value":"PSNV6MVC","created_at":"2026-07-05T07:01:56Z"}],"graph_snapshots":[{"event_id":"sha256:20146958eec4056980717c09f639abeae38019a68908ade087f8926345d46cbc","target":"graph","created_at":"2026-07-05T07:01:56Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2202.12646/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential to enforce controller feasibility and hardware integrity. We observe a considerable prediction error of a commonly-used approach in robotics compared against 250 benchmark experiments with the Panda manipulator. We reduce the average prediction error by 81.98% as follows: First, we focus on task-space equations without inverting the ill-conditioned joint-space inertia matrix. Second, before the impact event, we compute the equivalent inertial properties of the end-effector tip considering that a hi","authors_text":"Abderrahmane Kheddar, Niels Dehio, Yuquan Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-25T12:10:55Z","title":"Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.12646","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:dc366e4c12291f3f28fddc1b709a56915502411ea147a6a1cc8f5d9b5bbee724","target":"record","created_at":"2026-07-05T07:01:56Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"69bd044ea57f1c29ebd575f047f605d12f700b08be67719f636aa1e5775055b0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-25T12:10:55Z","title_canon_sha256":"c0b953c2bda5799c1b0e4ad6bb12024aac4c775c8ddb3a3308a4ad107084953d"},"schema_version":"1.0","source":{"id":"2202.12646","kind":"arxiv","version":1}},"canonical_sha256":"7c9b5f32a2910d11a7adb6e3176b2f368d85048b23e24253ac55c3eeb0b5643d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7c9b5f32a2910d11a7adb6e3176b2f368d85048b23e24253ac55c3eeb0b5643d","first_computed_at":"2026-07-05T07:01:56.196410Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:01:56.196410Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9f8CXwM9jmaNY6CVEI6lBpM5OM6ungDC2vwMwGo89UbgFYeQrsaZUbk8PLazoKSYJBAC5XK9Q4KZTHY3m+c8Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:01:56.196834Z","signed_message":"canonical_sha256_bytes"},"source_id":"2202.12646","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dc366e4c12291f3f28fddc1b709a56915502411ea147a6a1cc8f5d9b5bbee724","sha256:20146958eec4056980717c09f639abeae38019a68908ade087f8926345d46cbc"],"state_sha256":"564fcf7fadf7d14826f7fa74433d8089a6a88c92f786c50c91c85260d19b58a8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2EXaGGcjqVNRIKPbd09BGTSNIjzUb2X0ALgSdxNqRM416O7lbHSEi64OamXeOZj/VVpreeLJAtFSLv73RO/vCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-08T14:01:38.432951Z","bundle_sha256":"d88383d2765577029a5a9d931cc9125ddf1916918bc7357451a982bd8855199b"}}