Pith Number

pith:QHEXLJC7

pith:2026:QHEXLJC7QOOBQF7EESXWHQXKBH

not attested not anchored not stored refs resolved

Object Manipulation of the Variable Topology Truss system

Andrew Jang-Ho Bae, Haorui Li, Mark Yim, Myeongjin Choi, TaeWon Seo

A hybrid control framework enables reliable object manipulation in Variable Topology Truss systems by combining position and force regulation.

arxiv:2605.13086 v1 · 2026-05-13 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{QHEXLJC7QOOBQF7EESXWHQXKBH}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Experimental results confirm that the proposed approach enables consistent and reliable object manipulation with the VTT system.

C2weakest assumption

The static model of the VTT accurately computes the required member forces from the desired end-effector forces, and the sensor-based force feedback can overcome high actuator friction.

C3one line summary

A hybrid position and force control strategy allows the Variable Topology Truss robot to reliably manipulate objects.

References

26 extracted · 26 resolved · 0 Pith anchors

[1] Variable geometry truss and its application to deployable truss and space crane arm.Acta Astronautica, 12(7-8):599–607, 1985 1985

[2] Trussarm—a variable-geometry-truss manipulator 1991

[3] Tetrobot: A modular approach to parallel robotics.IEEE Robotics & Automation Magazine, 4(1):42–50, 1997 1997

[4] Dynamic rolling locomotion and control of modular robots.IEEE Transactions on robotics and automation, 18(1):32–41, 2002 2002

[5] Tetrahedral robotics for space exploration 2007

Receipt and verification

First computed	2026-05-18T03:08:58.550855Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

81c975a45f839c1817e424af63c2ea09ecbbec96c047ded64f9c63a663cefbcc

Aliases

arxiv: 2605.13086 · arxiv_version: 2605.13086v1 · doi: 10.48550/arxiv.2605.13086 · pith_short_12: QHEXLJC7QOOB · pith_short_16: QHEXLJC7QOOBQF7E · pith_short_8: QHEXLJC7

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/QHEXLJC7QOOBQF7EESXWHQXKBH \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 81c975a45f839c1817e424af63c2ea09ecbbec96c047ded64f9c63a663cefbcc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9e21f475ab953028559e12ebc6d67b4fe53456608447e9dd500ce52c4d9e7bb5",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T06:55:11Z",
    "title_canon_sha256": "32c2d95451a7c6e99fe6a29f55f08b02071373b5dd99bcfd889ddc4f90cd5781"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13086",
    "kind": "arxiv",
    "version": 1
  }
}