{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:QAFCEG3SE32LVHLSY5UC6NTW7P","short_pith_number":"pith:QAFCEG3S","canonical_record":{"source":{"id":"1607.04537","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-15T14:50:31Z","cross_cats_sorted":[],"title_canon_sha256":"1036e19d50743016e669ded41c17e77df9a676a9280f8b8931b5ae6c5608ccee","abstract_canon_sha256":"889757987df1e535f6ad04238083cd532aac2a5f29523341d9059a9eef7106dc"},"schema_version":"1.0"},"canonical_sha256":"800a221b7226f4ba9d72c7682f3676fbc1472f9b18dc0234a882102e425962f5","source":{"kind":"arxiv","id":"1607.04537","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.04537","created_at":"2026-05-18T01:11:00Z"},{"alias_kind":"arxiv_version","alias_value":"1607.04537v1","created_at":"2026-05-18T01:11:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.04537","created_at":"2026-05-18T01:11:00Z"},{"alias_kind":"pith_short_12","alias_value":"QAFCEG3SE32L","created_at":"2026-05-18T12:30:39Z"},{"alias_kind":"pith_short_16","alias_value":"QAFCEG3SE32LVHLS","created_at":"2026-05-18T12:30:39Z"},{"alias_kind":"pith_short_8","alias_value":"QAFCEG3S","created_at":"2026-05-18T12:30:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:QAFCEG3SE32LVHLSY5UC6NTW7P","target":"record","payload":{"canonical_record":{"source":{"id":"1607.04537","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-15T14:50:31Z","cross_cats_sorted":[],"title_canon_sha256":"1036e19d50743016e669ded41c17e77df9a676a9280f8b8931b5ae6c5608ccee","abstract_canon_sha256":"889757987df1e535f6ad04238083cd532aac2a5f29523341d9059a9eef7106dc"},"schema_version":"1.0"},"canonical_sha256":"800a221b7226f4ba9d72c7682f3676fbc1472f9b18dc0234a882102e425962f5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:11:00.937139Z","signature_b64":"WploPE6M0vPXA0q1BqSzW8zwyMtXUZAMD/ujsHMwlqFQIT7sdMoJshS8InFPXSupjp5IxqOhx7DHme8PD96oBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"800a221b7226f4ba9d72c7682f3676fbc1472f9b18dc0234a882102e425962f5","last_reissued_at":"2026-05-18T01:11:00.936528Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:11:00.936528Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1607.04537","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":"2026-05-18T01:11:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fa+63L2MhpRzs6b0bQHyHcxXwBH4DdpZvMaQL1mvkV+UCkzu/QYHlDV14IAv0vbM8AmJWbcEGI19guTuIE03BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-26T12:29:36.737703Z"},"content_sha256":"ab6ba219bd4d4ffe8ab65ba76e5c157f4844f1f43b90a677201df59bb8ce2e30","schema_version":"1.0","event_id":"sha256:ab6ba219bd4d4ffe8ab65ba76e5c157f4844f1f43b90a677201df59bb8ce2e30"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:QAFCEG3SE32LVHLSY5UC6NTW7P","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexander W. Winkler, Farbod Farshidian, Jonas Buchli, Michael Neunert","submitted_at":"2016-07-15T14:50:31Z","abstract_excerpt":"In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a quadruped robot. In contrast to most previous methods, we do not pre-specify contact switches, timings, points or gait patterns, but they are a direct outcome of the optimization. Furthermore, we optimize over the entire dynamics of the robot, which enables the optimizer to fully leverage the capabilities of the robot. To illustrate the spectrum of achievable motion"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.04537","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:11:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jrzTUqlgsp7L+uRM4nSZI91DHZkfzQUvm7wnSW6bhboPJTZkrdgbL2FF1BbtDJBhgVzVoxc78x4CGMi9anOBDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-26T12:29:36.738044Z"},"content_sha256":"a1e5c2b585d55f550d6419395c37fbe29d66a24fe7f07abe42da55eefa1632b0","schema_version":"1.0","event_id":"sha256:a1e5c2b585d55f550d6419395c37fbe29d66a24fe7f07abe42da55eefa1632b0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QAFCEG3SE32LVHLSY5UC6NTW7P/bundle.json","state_url":"https://pith.science/pith/QAFCEG3SE32LVHLSY5UC6NTW7P/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QAFCEG3SE32LVHLSY5UC6NTW7P/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":"2026-06-26T12:29:36Z","links":{"resolver":"https://pith.science/pith/QAFCEG3SE32LVHLSY5UC6NTW7P","bundle":"https://pith.science/pith/QAFCEG3SE32LVHLSY5UC6NTW7P/bundle.json","state":"https://pith.science/pith/QAFCEG3SE32LVHLSY5UC6NTW7P/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QAFCEG3SE32LVHLSY5UC6NTW7P/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:QAFCEG3SE32LVHLSY5UC6NTW7P","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":"889757987df1e535f6ad04238083cd532aac2a5f29523341d9059a9eef7106dc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-15T14:50:31Z","title_canon_sha256":"1036e19d50743016e669ded41c17e77df9a676a9280f8b8931b5ae6c5608ccee"},"schema_version":"1.0","source":{"id":"1607.04537","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.04537","created_at":"2026-05-18T01:11:00Z"},{"alias_kind":"arxiv_version","alias_value":"1607.04537v1","created_at":"2026-05-18T01:11:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.04537","created_at":"2026-05-18T01:11:00Z"},{"alias_kind":"pith_short_12","alias_value":"QAFCEG3SE32L","created_at":"2026-05-18T12:30:39Z"},{"alias_kind":"pith_short_16","alias_value":"QAFCEG3SE32LVHLS","created_at":"2026-05-18T12:30:39Z"},{"alias_kind":"pith_short_8","alias_value":"QAFCEG3S","created_at":"2026-05-18T12:30:39Z"}],"graph_snapshots":[{"event_id":"sha256:a1e5c2b585d55f550d6419395c37fbe29d66a24fe7f07abe42da55eefa1632b0","target":"graph","created_at":"2026-05-18T01:11:00Z","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"},"paper":{"abstract_excerpt":"In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a quadruped robot. In contrast to most previous methods, we do not pre-specify contact switches, timings, points or gait patterns, but they are a direct outcome of the optimization. Furthermore, we optimize over the entire dynamics of the robot, which enables the optimizer to fully leverage the capabilities of the robot. To illustrate the spectrum of achievable motion","authors_text":"Alexander W. Winkler, Farbod Farshidian, Jonas Buchli, Michael Neunert","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-15T14:50:31Z","title":"Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.04537","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:ab6ba219bd4d4ffe8ab65ba76e5c157f4844f1f43b90a677201df59bb8ce2e30","target":"record","created_at":"2026-05-18T01:11:00Z","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":"889757987df1e535f6ad04238083cd532aac2a5f29523341d9059a9eef7106dc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-15T14:50:31Z","title_canon_sha256":"1036e19d50743016e669ded41c17e77df9a676a9280f8b8931b5ae6c5608ccee"},"schema_version":"1.0","source":{"id":"1607.04537","kind":"arxiv","version":1}},"canonical_sha256":"800a221b7226f4ba9d72c7682f3676fbc1472f9b18dc0234a882102e425962f5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"800a221b7226f4ba9d72c7682f3676fbc1472f9b18dc0234a882102e425962f5","first_computed_at":"2026-05-18T01:11:00.936528Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:11:00.936528Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WploPE6M0vPXA0q1BqSzW8zwyMtXUZAMD/ujsHMwlqFQIT7sdMoJshS8InFPXSupjp5IxqOhx7DHme8PD96oBw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:11:00.937139Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.04537","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ab6ba219bd4d4ffe8ab65ba76e5c157f4844f1f43b90a677201df59bb8ce2e30","sha256:a1e5c2b585d55f550d6419395c37fbe29d66a24fe7f07abe42da55eefa1632b0"],"state_sha256":"1ac7b73b91028d86fcdf2b3cf72187869af79cdc4f045c8be8091cad1d3e1bad"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2fZYON6G1LnowzVCLm2bvF2sGYGiTVP25PMmzeexvvn4E3VGekGwBwfw/GnY/wzouEiDaa0hhyn4q7X8uSnuCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-26T12:29:36.739990Z","bundle_sha256":"09ccea32675dae6b6e9aaa101e40dee29c9286611cb18bd3c73f3b9cf7c9e0e0"}}