{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:QJCSRO2XFTOBJHZY6GC75S7FJM","short_pith_number":"pith:QJCSRO2X","canonical_record":{"source":{"id":"2410.07742","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-10T09:20:46Z","cross_cats_sorted":[],"title_canon_sha256":"2d343d39f5a3216df21ecb0c7d37d48b8d5a5c0e6ca326f39fa4ae2d558a922c","abstract_canon_sha256":"2d2ce5de814c5bd1398af5ea00aaad675030ef6b002f7f1588bec64d5f44e7ec"},"schema_version":"1.0"},"canonical_sha256":"824528bb572cdc149f38f185fecbe54b1be906563e66ab8254f8e8578e406fab","source":{"kind":"arxiv","id":"2410.07742","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.07742","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"arxiv_version","alias_value":"2410.07742v1","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.07742","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"pith_short_12","alias_value":"QJCSRO2XFTOB","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"pith_short_16","alias_value":"QJCSRO2XFTOBJHZY","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"pith_short_8","alias_value":"QJCSRO2X","created_at":"2026-07-05T09:18:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:QJCSRO2XFTOBJHZY6GC75S7FJM","target":"record","payload":{"canonical_record":{"source":{"id":"2410.07742","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-10T09:20:46Z","cross_cats_sorted":[],"title_canon_sha256":"2d343d39f5a3216df21ecb0c7d37d48b8d5a5c0e6ca326f39fa4ae2d558a922c","abstract_canon_sha256":"2d2ce5de814c5bd1398af5ea00aaad675030ef6b002f7f1588bec64d5f44e7ec"},"schema_version":"1.0"},"canonical_sha256":"824528bb572cdc149f38f185fecbe54b1be906563e66ab8254f8e8578e406fab","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:18:43.003347Z","signature_b64":"TxuHg9tQgz4fneI/DWo5V0efJk0tayTYLvirtuHp9cbD4rS6tHLsJKdfcufDDhvN10dX2DNpJ/AEZYZwJRaoAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"824528bb572cdc149f38f185fecbe54b1be906563e66ab8254f8e8578e406fab","last_reissued_at":"2026-07-05T09:18:43.002906Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:18:43.002906Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.07742","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":"2026-07-05T09:18:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l92YSXSn3NRE6LClYZIIOiqk44uNeO0fqKQ2l/gBU/JkR3Ep1jFHvI6CofLFqTQDOpipdEDInonfrmBB2LVjBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T17:39:39.336532Z"},"content_sha256":"29f4af118c58e330cf605d5f001956b5406b7cd1a60bfe2d766a60f336ffbf25","schema_version":"1.0","event_id":"sha256:29f4af118c58e330cf605d5f001956b5406b7cd1a60bfe2d766a60f336ffbf25"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:QJCSRO2XFTOBJHZY6GC75S7FJM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Kento Kawaharazuka, Masahiro Bando, Masayuki Inaba, Shunnosuke Yoshimura, Sota Yuzaki, Temma Suzuki","submitted_at":"2024-10-10T09:20:46Z","abstract_excerpt":"In this paper, we focus on the kangaroo, which has powerful legs capable of jumping and a soft and strong tail. To incorporate these unique structure into a robot for utilization, we propose a design method that takes into account both the feasibility as a robot and the kangaroo-mimetic structure. Based on the kangaroo's musculoskeletal structure, we determine the structure of the robot that enables it to jump by analyzing the muscle arrangement and prior verification in simulation. Also, to realize a tail capable of body support, we use an articulated, elastic structure as a tail. In order to"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.07742","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2410.07742/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T09:18:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XS6v7LIZxl2kbENaVsaIu5gLs/ybHWRUM9UDqLuwq44nDwi+ogz5lxaeTI2f/zCAl/Z65mX1RCUOeAWjn30uBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T17:39:39.337249Z"},"content_sha256":"1c1206d601c2ac84b79e31b1417bf22f12bbcdeaca6d54ed89d018baf01210a4","schema_version":"1.0","event_id":"sha256:1c1206d601c2ac84b79e31b1417bf22f12bbcdeaca6d54ed89d018baf01210a4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QJCSRO2XFTOBJHZY6GC75S7FJM/bundle.json","state_url":"https://pith.science/pith/QJCSRO2XFTOBJHZY6GC75S7FJM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QJCSRO2XFTOBJHZY6GC75S7FJM/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":"2026-08-06T17:39:39Z","links":{"resolver":"https://pith.science/pith/QJCSRO2XFTOBJHZY6GC75S7FJM","bundle":"https://pith.science/pith/QJCSRO2XFTOBJHZY6GC75S7FJM/bundle.json","state":"https://pith.science/pith/QJCSRO2XFTOBJHZY6GC75S7FJM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QJCSRO2XFTOBJHZY6GC75S7FJM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:QJCSRO2XFTOBJHZY6GC75S7FJM","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":"2d2ce5de814c5bd1398af5ea00aaad675030ef6b002f7f1588bec64d5f44e7ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-10T09:20:46Z","title_canon_sha256":"2d343d39f5a3216df21ecb0c7d37d48b8d5a5c0e6ca326f39fa4ae2d558a922c"},"schema_version":"1.0","source":{"id":"2410.07742","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.07742","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"arxiv_version","alias_value":"2410.07742v1","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.07742","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"pith_short_12","alias_value":"QJCSRO2XFTOB","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"pith_short_16","alias_value":"QJCSRO2XFTOBJHZY","created_at":"2026-07-05T09:18:43Z"},{"alias_kind":"pith_short_8","alias_value":"QJCSRO2X","created_at":"2026-07-05T09:18:43Z"}],"graph_snapshots":[{"event_id":"sha256:1c1206d601c2ac84b79e31b1417bf22f12bbcdeaca6d54ed89d018baf01210a4","target":"graph","created_at":"2026-07-05T09:18:43Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2410.07742/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we focus on the kangaroo, which has powerful legs capable of jumping and a soft and strong tail. To incorporate these unique structure into a robot for utilization, we propose a design method that takes into account both the feasibility as a robot and the kangaroo-mimetic structure. Based on the kangaroo's musculoskeletal structure, we determine the structure of the robot that enables it to jump by analyzing the muscle arrangement and prior verification in simulation. Also, to realize a tail capable of body support, we use an articulated, elastic structure as a tail. In order to","authors_text":"Kei Okada, Kento Kawaharazuka, Masahiro Bando, Masayuki Inaba, Shunnosuke Yoshimura, Sota Yuzaki, Temma Suzuki","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-10T09:20:46Z","title":"Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.07742","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":"sha256:29f4af118c58e330cf605d5f001956b5406b7cd1a60bfe2d766a60f336ffbf25","target":"record","created_at":"2026-07-05T09:18:43Z","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":"2d2ce5de814c5bd1398af5ea00aaad675030ef6b002f7f1588bec64d5f44e7ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-10T09:20:46Z","title_canon_sha256":"2d343d39f5a3216df21ecb0c7d37d48b8d5a5c0e6ca326f39fa4ae2d558a922c"},"schema_version":"1.0","source":{"id":"2410.07742","kind":"arxiv","version":1}},"canonical_sha256":"824528bb572cdc149f38f185fecbe54b1be906563e66ab8254f8e8578e406fab","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"824528bb572cdc149f38f185fecbe54b1be906563e66ab8254f8e8578e406fab","first_computed_at":"2026-07-05T09:18:43.002906Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:18:43.002906Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TxuHg9tQgz4fneI/DWo5V0efJk0tayTYLvirtuHp9cbD4rS6tHLsJKdfcufDDhvN10dX2DNpJ/AEZYZwJRaoAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:18:43.003347Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.07742","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:29f4af118c58e330cf605d5f001956b5406b7cd1a60bfe2d766a60f336ffbf25","sha256:1c1206d601c2ac84b79e31b1417bf22f12bbcdeaca6d54ed89d018baf01210a4"],"state_sha256":"6fa93d03ea9d9fe53b09ff017116a801830accd0f0d7a72a993d53fd938fa298"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"P7x1hukdObEmBrIadth1oBzUFCTq3GkFt+u90RwI0aHUT4LkcFxUfPaaKykNuVQs0QT/FSHySuQePEKjKRpyBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T17:39:39.340916Z","bundle_sha256":"6622f6882a720a843d4cdd4f936f3c54f7280b12f39393ae1f7cebfb2c42b63d"}}