{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:R3VORVIP4LAXDL37XJ64WBANUP","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":"92b19562496bdffd4a46936e114d70f81b1e982e30f353af2fba6ea706d49042","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-20T05:50:25Z","title_canon_sha256":"555e73605a8645e0ac45de80c9d35f874f35fa8f3cfd9270a2442c46a2800291"},"schema_version":"1.0","source":{"id":"2405.11803","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.11803","created_at":"2026-07-05T08:20:56Z"},{"alias_kind":"arxiv_version","alias_value":"2405.11803v1","created_at":"2026-07-05T08:20:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.11803","created_at":"2026-07-05T08:20:56Z"},{"alias_kind":"pith_short_12","alias_value":"R3VORVIP4LAX","created_at":"2026-07-05T08:20:56Z"},{"alias_kind":"pith_short_16","alias_value":"R3VORVIP4LAXDL37","created_at":"2026-07-05T08:20:56Z"},{"alias_kind":"pith_short_8","alias_value":"R3VORVIP","created_at":"2026-07-05T08:20:56Z"}],"graph_snapshots":[{"event_id":"sha256:ca2dce4087b869a2c6c69b540253dafaea7e1f107323d7703588fdd5b0344400","target":"graph","created_at":"2026-07-05T08:20:56Z","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/2405.11803/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls may cause instability. In this study, to solve these problems, we propose a method of learning a correlation model among the joint angle, muscle tension, and muscle length of the ankle and the zero moment point to perform balance control. In addition, information on the changing body state is embedded in the model using parametric bias, and the model estimate","authors_text":"Akihiro Miki, Kei Okada, Kento Kawaharazuka, Masayuki Inaba, Temma Suzuki, Yasunori Toshimitsu, Yoshimoto Ribayashi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-20T05:50:25Z","title":"Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.11803","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":"sha256:60b58187ea96b182fe1c4a6d7305975bba6c06ca185941dd43616252d584671c","target":"record","created_at":"2026-07-05T08:20:56Z","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":"92b19562496bdffd4a46936e114d70f81b1e982e30f353af2fba6ea706d49042","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-20T05:50:25Z","title_canon_sha256":"555e73605a8645e0ac45de80c9d35f874f35fa8f3cfd9270a2442c46a2800291"},"schema_version":"1.0","source":{"id":"2405.11803","kind":"arxiv","version":1}},"canonical_sha256":"8eeae8d50fe2c171af7fba7dcb040da3f2ec5e76c2d73a3834f971196ae6fff3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8eeae8d50fe2c171af7fba7dcb040da3f2ec5e76c2d73a3834f971196ae6fff3","first_computed_at":"2026-07-05T08:20:56.178984Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:20:56.178984Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"j/YXWyVu9cJjjH4pVGvaBOBi/i1uL++R63uwxoJy4aKetXeSPZDyDgiaLh5vsLDFZehHdLSZJfAn7JRtUzw1BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:20:56.179451Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.11803","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:60b58187ea96b182fe1c4a6d7305975bba6c06ca185941dd43616252d584671c","sha256:ca2dce4087b869a2c6c69b540253dafaea7e1f107323d7703588fdd5b0344400"],"state_sha256":"9bc37228afc0a82005986f668fe3268d70f68e84f8d1a1313dc2e32b5199d30c"}