{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:S2DH25RZHM2QMQB5N4V4QWNQ7N","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":"7f4aefb71603c9a54a87f0f4777280b2c433fc41958d7e93f16389e37c05424f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-07T07:15:47Z","title_canon_sha256":"68ec7e63773317b5295de9f14680ccb77467eeb7ed9f86578325bb23e2fea25a"},"schema_version":"1.0","source":{"id":"1801.02151","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.02151","created_at":"2026-05-18T00:26:34Z"},{"alias_kind":"arxiv_version","alias_value":"1801.02151v1","created_at":"2026-05-18T00:26:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.02151","created_at":"2026-05-18T00:26:34Z"},{"alias_kind":"pith_short_12","alias_value":"S2DH25RZHM2Q","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_16","alias_value":"S2DH25RZHM2QMQB5","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_8","alias_value":"S2DH25RZ","created_at":"2026-05-18T12:32:50Z"}],"graph_snapshots":[{"event_id":"sha256:3794ffa83d58dc85218c740569632d8127bf94bf132d5f9405138eecb2bd4102","target":"graph","created_at":"2026-05-18T00:26:34Z","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 paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular time-projection method to adjust the next footstep location on-line during the motion continuously. This adjustment, which is found based on both pelvis and swing foot tracking errors, naturally takes th","authors_text":"Auke J. Ijspeert, Hamed Razavi, Salman Faraji","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-07T07:15:47Z","title":"Push recovery with stepping strategy based on time-projection control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.02151","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":"sha256:7d30e437ed21f6bdfe06e9333982126c8b3efb36faaf1498cfbddd32de805cf5","target":"record","created_at":"2026-05-18T00:26:34Z","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":"7f4aefb71603c9a54a87f0f4777280b2c433fc41958d7e93f16389e37c05424f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-07T07:15:47Z","title_canon_sha256":"68ec7e63773317b5295de9f14680ccb77467eeb7ed9f86578325bb23e2fea25a"},"schema_version":"1.0","source":{"id":"1801.02151","kind":"arxiv","version":1}},"canonical_sha256":"96867d76393b3506403d6f2bc859b0fb43c08a532d85ef59ebdbc561d4a22f57","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"96867d76393b3506403d6f2bc859b0fb43c08a532d85ef59ebdbc561d4a22f57","first_computed_at":"2026-05-18T00:26:34.695581Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:26:34.695581Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"m9qGm8sVTMFrpevE2w3Pv+7LO8/lZ8tflW2C3mIyVDzoviW/sxV8BH+pJVKPcJOeBDKBgPotRmUDPbC7eFC4Cw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:26:34.696231Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.02151","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7d30e437ed21f6bdfe06e9333982126c8b3efb36faaf1498cfbddd32de805cf5","sha256:3794ffa83d58dc85218c740569632d8127bf94bf132d5f9405138eecb2bd4102"],"state_sha256":"74cfc8a2bd269f007d300077f2be28e82667fa262d4b48d4bd80439bb28d2ad1"}