{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:Q6YR6SYLOWN7KHE4OKPLO4EWKG","short_pith_number":"pith:Q6YR6SYL","schema_version":"1.0","canonical_sha256":"87b11f4b0b759bf51c9c729eb770965186f85be8e235a4db7025d33ca2d2a4eb","source":{"kind":"arxiv","id":"1705.02573","version":1},"attestation_state":"computed","paper":{"title":"A Certified-Complete Bimanual Manipulation Planner","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Puttichai Lertkultanon, Quang-Cuong Pham","submitted_at":"2017-05-07T07:26:49Z","abstract_excerpt":"Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we propose a manipulation planning algorithm to bring an object from an initial stable placement (position and orientation of the object on the support surface) towards a goal stable placement. The key specificity of our algorithm is that it is certified-complete: for a given object and a given environment, we provide a certificate that the algorithm will find"},"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":"1705.02573","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-07T07:26:49Z","cross_cats_sorted":[],"title_canon_sha256":"b070b939a1439f3a5a5bf1260900b29886c2661e75461d22a6899352ce17e2cc","abstract_canon_sha256":"6200ca5d26e1447350af9cc87e1fc1659bca335164c75f127c711fc034da0b6e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:44:56.154246Z","signature_b64":"J8q3r3nhrNhpBjbf1y6FOR5V9+r3mps/L302qyiyGtWHDV8d2h3IiKSERjI4w98CY2rKIG5l1YcoZTtFqIYYDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"87b11f4b0b759bf51c9c729eb770965186f85be8e235a4db7025d33ca2d2a4eb","last_reissued_at":"2026-05-18T00:44:56.153668Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:44:56.153668Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Certified-Complete Bimanual Manipulation Planner","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Puttichai Lertkultanon, Quang-Cuong Pham","submitted_at":"2017-05-07T07:26:49Z","abstract_excerpt":"Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we propose a manipulation planning algorithm to bring an object from an initial stable placement (position and orientation of the object on the support surface) towards a goal stable placement. The key specificity of our algorithm is that it is certified-complete: for a given object and a given environment, we provide a certificate that the algorithm will find"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.02573","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":"1705.02573","created_at":"2026-05-18T00:44:56.153763+00:00"},{"alias_kind":"arxiv_version","alias_value":"1705.02573v1","created_at":"2026-05-18T00:44:56.153763+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.02573","created_at":"2026-05-18T00:44:56.153763+00:00"},{"alias_kind":"pith_short_12","alias_value":"Q6YR6SYLOWN7","created_at":"2026-05-18T12:31:37.085036+00:00"},{"alias_kind":"pith_short_16","alias_value":"Q6YR6SYLOWN7KHE4","created_at":"2026-05-18T12:31:37.085036+00:00"},{"alias_kind":"pith_short_8","alias_value":"Q6YR6SYL","created_at":"2026-05-18T12:31:37.085036+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/Q6YR6SYLOWN7KHE4OKPLO4EWKG","json":"https://pith.science/pith/Q6YR6SYLOWN7KHE4OKPLO4EWKG.json","graph_json":"https://pith.science/api/pith-number/Q6YR6SYLOWN7KHE4OKPLO4EWKG/graph.json","events_json":"https://pith.science/api/pith-number/Q6YR6SYLOWN7KHE4OKPLO4EWKG/events.json","paper":"https://pith.science/paper/Q6YR6SYL"},"agent_actions":{"view_html":"https://pith.science/pith/Q6YR6SYLOWN7KHE4OKPLO4EWKG","download_json":"https://pith.science/pith/Q6YR6SYLOWN7KHE4OKPLO4EWKG.json","view_paper":"https://pith.science/paper/Q6YR6SYL","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1705.02573&json=true","fetch_graph":"https://pith.science/api/pith-number/Q6YR6SYLOWN7KHE4OKPLO4EWKG/graph.json","fetch_events":"https://pith.science/api/pith-number/Q6YR6SYLOWN7KHE4OKPLO4EWKG/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/Q6YR6SYLOWN7KHE4OKPLO4EWKG/action/timestamp_anchor","attest_storage":"https://pith.science/pith/Q6YR6SYLOWN7KHE4OKPLO4EWKG/action/storage_attestation","attest_author":"https://pith.science/pith/Q6YR6SYLOWN7KHE4OKPLO4EWKG/action/author_attestation","sign_citation":"https://pith.science/pith/Q6YR6SYLOWN7KHE4OKPLO4EWKG/action/citation_signature","submit_replication":"https://pith.science/pith/Q6YR6SYLOWN7KHE4OKPLO4EWKG/action/replication_record"}},"created_at":"2026-05-18T00:44:56.153763+00:00","updated_at":"2026-05-18T00:44:56.153763+00:00"}