{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2014:Q6HFAQHDV3WUGGBPM575DMM7JY","short_pith_number":"pith:Q6HFAQHD","schema_version":"1.0","canonical_sha256":"878e5040e3aeed43182f677fd1b19f4e2e6d044e3fd2f4df0fa0aa182166e73a","source":{"kind":"arxiv","id":"1403.0879","version":1},"attestation_state":"computed","paper":{"title":"Robustness: a new SLIP model based criterion for gait transitions in bipedal locomotion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Harold Roberto Martinez Salazar, Juan Pablo Carbajal, Yuri P. Ivanenko","submitted_at":"2014-03-04T18:26:02Z","abstract_excerpt":"Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist but their full explanatory power is not yet exhausted. In the current study, we introduce the robustness criterion which defines the conditions for stable locomotion when steps are taken with imprecise angle of attack. Intuitively, the necessity of a higher precision indicates the difficulty to continue moving with a given gait. We show that the spring-loaded inverted pendulum model, under the robustness criterion, "},"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":"1403.0879","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-03-04T18:26:02Z","cross_cats_sorted":[],"title_canon_sha256":"78a4b524ac6e05cccda91d4ca232e7fd7043187b61c9358b91d8731b3b385b63","abstract_canon_sha256":"4e1f8aff530203d02107abfaad17e66ea713cddaf84b0381929ce374567061b9"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:57:15.404362Z","signature_b64":"8SfgbHKd3TFMW1GkqTnuT7vbjaqenlW1M0eBY/7AxGEunfTmBV55KGL5q3un1+4F9wS2RBS3oc+CXUSp4eedBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"878e5040e3aeed43182f677fd1b19f4e2e6d044e3fd2f4df0fa0aa182166e73a","last_reissued_at":"2026-05-18T02:57:15.403863Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:57:15.403863Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Robustness: a new SLIP model based criterion for gait transitions in bipedal locomotion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Harold Roberto Martinez Salazar, Juan Pablo Carbajal, Yuri P. Ivanenko","submitted_at":"2014-03-04T18:26:02Z","abstract_excerpt":"Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist but their full explanatory power is not yet exhausted. In the current study, we introduce the robustness criterion which defines the conditions for stable locomotion when steps are taken with imprecise angle of attack. Intuitively, the necessity of a higher precision indicates the difficulty to continue moving with a given gait. We show that the spring-loaded inverted pendulum model, under the robustness criterion, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1403.0879","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":""},"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":"1403.0879","created_at":"2026-05-18T02:57:15.403933+00:00"},{"alias_kind":"arxiv_version","alias_value":"1403.0879v1","created_at":"2026-05-18T02:57:15.403933+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1403.0879","created_at":"2026-05-18T02:57:15.403933+00:00"},{"alias_kind":"pith_short_12","alias_value":"Q6HFAQHDV3WU","created_at":"2026-05-18T12:28:43.426989+00:00"},{"alias_kind":"pith_short_16","alias_value":"Q6HFAQHDV3WUGGBP","created_at":"2026-05-18T12:28:43.426989+00:00"},{"alias_kind":"pith_short_8","alias_value":"Q6HFAQHD","created_at":"2026-05-18T12:28:43.426989+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/Q6HFAQHDV3WUGGBPM575DMM7JY","json":"https://pith.science/pith/Q6HFAQHDV3WUGGBPM575DMM7JY.json","graph_json":"https://pith.science/api/pith-number/Q6HFAQHDV3WUGGBPM575DMM7JY/graph.json","events_json":"https://pith.science/api/pith-number/Q6HFAQHDV3WUGGBPM575DMM7JY/events.json","paper":"https://pith.science/paper/Q6HFAQHD"},"agent_actions":{"view_html":"https://pith.science/pith/Q6HFAQHDV3WUGGBPM575DMM7JY","download_json":"https://pith.science/pith/Q6HFAQHDV3WUGGBPM575DMM7JY.json","view_paper":"https://pith.science/paper/Q6HFAQHD","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1403.0879&json=true","fetch_graph":"https://pith.science/api/pith-number/Q6HFAQHDV3WUGGBPM575DMM7JY/graph.json","fetch_events":"https://pith.science/api/pith-number/Q6HFAQHDV3WUGGBPM575DMM7JY/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/Q6HFAQHDV3WUGGBPM575DMM7JY/action/timestamp_anchor","attest_storage":"https://pith.science/pith/Q6HFAQHDV3WUGGBPM575DMM7JY/action/storage_attestation","attest_author":"https://pith.science/pith/Q6HFAQHDV3WUGGBPM575DMM7JY/action/author_attestation","sign_citation":"https://pith.science/pith/Q6HFAQHDV3WUGGBPM575DMM7JY/action/citation_signature","submit_replication":"https://pith.science/pith/Q6HFAQHDV3WUGGBPM575DMM7JY/action/replication_record"}},"created_at":"2026-05-18T02:57:15.403933+00:00","updated_at":"2026-05-18T02:57:15.403933+00:00"}