{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:QGYPZJCXMRSMK7VQEGBB5IDSPI","short_pith_number":"pith:QGYPZJCX","schema_version":"1.0","canonical_sha256":"81b0fca4576464c57eb021821ea0727a3b44f5e056cd1a46790a8b697cbd2c6a","source":{"kind":"arxiv","id":"1808.03037","version":1},"attestation_state":"computed","paper":{"title":"Passive Compliance Control of Aerial Manipulators","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Christian Ott, Konstantin Kondak, Marco De Stefano, Min Jun Kim, Ribin Balachandran","submitted_at":"2018-08-09T06:37:46Z","abstract_excerpt":"This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required during the interaction to preserve passivity. The controller proposed in this paper guarantees passivity of the manipulator through a proper choice of end-effector coordinates, and that of vehicle fuselage is guaranteed by exploiting time domain passivity technique. Simulation studies validate the proposed approach."},"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":"1808.03037","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-09T06:37:46Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"690c80392c812aaa59ba2ffe63279124b59ddda3efb70890b1ad80b06b463246","abstract_canon_sha256":"187b7de664deb5ec73cc66696d8e35a5f52be304a70f940d3f216de9ca013d22"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:08:30.364072Z","signature_b64":"a2gT8BnfLluxCTwGtjEDdpd3ntFJDJojT/0OJMuIkWtM9Q6fOUryjF9cgRBvmAUq0gO7qcfd5DZJV6/g0xd7Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"81b0fca4576464c57eb021821ea0727a3b44f5e056cd1a46790a8b697cbd2c6a","last_reissued_at":"2026-05-18T00:08:30.363514Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:08:30.363514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Passive Compliance Control of Aerial Manipulators","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Christian Ott, Konstantin Kondak, Marco De Stefano, Min Jun Kim, Ribin Balachandran","submitted_at":"2018-08-09T06:37:46Z","abstract_excerpt":"This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required during the interaction to preserve passivity. The controller proposed in this paper guarantees passivity of the manipulator through a proper choice of end-effector coordinates, and that of vehicle fuselage is guaranteed by exploiting time domain passivity technique. Simulation studies validate the proposed approach."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.03037","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":"1808.03037","created_at":"2026-05-18T00:08:30.363600+00:00"},{"alias_kind":"arxiv_version","alias_value":"1808.03037v1","created_at":"2026-05-18T00:08:30.363600+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.03037","created_at":"2026-05-18T00:08:30.363600+00:00"},{"alias_kind":"pith_short_12","alias_value":"QGYPZJCXMRSM","created_at":"2026-05-18T12:32:46.962924+00:00"},{"alias_kind":"pith_short_16","alias_value":"QGYPZJCXMRSMK7VQ","created_at":"2026-05-18T12:32:46.962924+00:00"},{"alias_kind":"pith_short_8","alias_value":"QGYPZJCX","created_at":"2026-05-18T12:32:46.962924+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/QGYPZJCXMRSMK7VQEGBB5IDSPI","json":"https://pith.science/pith/QGYPZJCXMRSMK7VQEGBB5IDSPI.json","graph_json":"https://pith.science/api/pith-number/QGYPZJCXMRSMK7VQEGBB5IDSPI/graph.json","events_json":"https://pith.science/api/pith-number/QGYPZJCXMRSMK7VQEGBB5IDSPI/events.json","paper":"https://pith.science/paper/QGYPZJCX"},"agent_actions":{"view_html":"https://pith.science/pith/QGYPZJCXMRSMK7VQEGBB5IDSPI","download_json":"https://pith.science/pith/QGYPZJCXMRSMK7VQEGBB5IDSPI.json","view_paper":"https://pith.science/paper/QGYPZJCX","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1808.03037&json=true","fetch_graph":"https://pith.science/api/pith-number/QGYPZJCXMRSMK7VQEGBB5IDSPI/graph.json","fetch_events":"https://pith.science/api/pith-number/QGYPZJCXMRSMK7VQEGBB5IDSPI/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/QGYPZJCXMRSMK7VQEGBB5IDSPI/action/timestamp_anchor","attest_storage":"https://pith.science/pith/QGYPZJCXMRSMK7VQEGBB5IDSPI/action/storage_attestation","attest_author":"https://pith.science/pith/QGYPZJCXMRSMK7VQEGBB5IDSPI/action/author_attestation","sign_citation":"https://pith.science/pith/QGYPZJCXMRSMK7VQEGBB5IDSPI/action/citation_signature","submit_replication":"https://pith.science/pith/QGYPZJCXMRSMK7VQEGBB5IDSPI/action/replication_record"}},"created_at":"2026-05-18T00:08:30.363600+00:00","updated_at":"2026-05-18T00:08:30.363600+00:00"}