{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:S6AI2VKTNXVPCI5NPHYUR4HJXF","short_pith_number":"pith:S6AI2VKT","canonical_record":{"source":{"id":"2508.00584","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T12:33:28Z","cross_cats_sorted":[],"title_canon_sha256":"eb5727c0adc34e6591404fed50bc7068679d7ff24f0be8c9f13a6928df2b78a8","abstract_canon_sha256":"a882fddbfdf55d03804a39d1f828a8374e2983a0f0b2fbac68ca26df3a4bb238"},"schema_version":"1.0"},"canonical_sha256":"97808d55536deaf123ad79f148f0e9b953db1663a2933964d0a265af5ea0fbca","source":{"kind":"arxiv","id":"2508.00584","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.00584","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"arxiv_version","alias_value":"2508.00584v1","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.00584","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"pith_short_12","alias_value":"S6AI2VKTNXVP","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"pith_short_16","alias_value":"S6AI2VKTNXVPCI5N","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"pith_short_8","alias_value":"S6AI2VKT","created_at":"2026-07-05T11:46:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:S6AI2VKTNXVPCI5NPHYUR4HJXF","target":"record","payload":{"canonical_record":{"source":{"id":"2508.00584","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T12:33:28Z","cross_cats_sorted":[],"title_canon_sha256":"eb5727c0adc34e6591404fed50bc7068679d7ff24f0be8c9f13a6928df2b78a8","abstract_canon_sha256":"a882fddbfdf55d03804a39d1f828a8374e2983a0f0b2fbac68ca26df3a4bb238"},"schema_version":"1.0"},"canonical_sha256":"97808d55536deaf123ad79f148f0e9b953db1663a2933964d0a265af5ea0fbca","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:46:58.598757Z","signature_b64":"actgoT+9Vc0gN/ijEZHC8GxcuAGxt0aa2s7dOWYNYhrmvup71KqIMb+6AH1H+3nt/5c0lID9MMz/Fs2AGF2bDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"97808d55536deaf123ad79f148f0e9b953db1663a2933964d0a265af5ea0fbca","last_reissued_at":"2026-07-05T11:46:58.598271Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:46:58.598271Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.00584","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":"2026-07-05T11:46:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Nur+oo6gQAGYfzwM1ZfOdX0J/sRELiz7/o97qcQ3puqpsdmN0VjeuJi0nrepw7d1rsCc3q0GWDoEr+iiW2hTBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-21T02:37:05.248035Z"},"content_sha256":"17a4fcde57615da6b376db6300737886dd4fc527f74b54bfe8ed17ceb0ec4c70","schema_version":"1.0","event_id":"sha256:17a4fcde57615da6b376db6300737886dd4fc527f74b54bfe8ed17ceb0ec4c70"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:S6AI2VKTNXVPCI5NPHYUR4HJXF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A control scheme for collaborative object transportation between a human and a quadruped robot using the MIGHTY suction cup","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dimitrios Papageorgiou, Drosakis Drosakis, Emmanouil Papadakis, Konstantinos Plotas, Panos Trahanias","submitted_at":"2025-08-01T12:33:28Z","abstract_excerpt":"In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque sensor. The proposed control scheme is based on the notion of admittance control, and incorporates a variable damping term aiming towards increasing the controllability of the human and, at the same time, decreasing her/his effort. Furthermore, to ensure that the object is not detached from the suction cup during the collaboration, an additional control signal is"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.00584","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/2508.00584/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":"2026-07-05T11:46:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kQnTAgfiX6n4FJ5B3XTyGwW+J2Lkc2GW+AoLDqtsxsX/Clb1Nmf2K5e2lTKxuogsPadmlb7USPM2DluABn3wDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-21T02:37:05.248409Z"},"content_sha256":"f4087bf8d3ae20e7793ac5d290a97564b5a3d8b57cb15ba9f7ea2eb944f573d9","schema_version":"1.0","event_id":"sha256:f4087bf8d3ae20e7793ac5d290a97564b5a3d8b57cb15ba9f7ea2eb944f573d9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/S6AI2VKTNXVPCI5NPHYUR4HJXF/bundle.json","state_url":"https://pith.science/pith/S6AI2VKTNXVPCI5NPHYUR4HJXF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/S6AI2VKTNXVPCI5NPHYUR4HJXF/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":"2026-07-21T02:37:05Z","links":{"resolver":"https://pith.science/pith/S6AI2VKTNXVPCI5NPHYUR4HJXF","bundle":"https://pith.science/pith/S6AI2VKTNXVPCI5NPHYUR4HJXF/bundle.json","state":"https://pith.science/pith/S6AI2VKTNXVPCI5NPHYUR4HJXF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/S6AI2VKTNXVPCI5NPHYUR4HJXF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:S6AI2VKTNXVPCI5NPHYUR4HJXF","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":"a882fddbfdf55d03804a39d1f828a8374e2983a0f0b2fbac68ca26df3a4bb238","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T12:33:28Z","title_canon_sha256":"eb5727c0adc34e6591404fed50bc7068679d7ff24f0be8c9f13a6928df2b78a8"},"schema_version":"1.0","source":{"id":"2508.00584","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.00584","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"arxiv_version","alias_value":"2508.00584v1","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.00584","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"pith_short_12","alias_value":"S6AI2VKTNXVP","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"pith_short_16","alias_value":"S6AI2VKTNXVPCI5N","created_at":"2026-07-05T11:46:58Z"},{"alias_kind":"pith_short_8","alias_value":"S6AI2VKT","created_at":"2026-07-05T11:46:58Z"}],"graph_snapshots":[{"event_id":"sha256:f4087bf8d3ae20e7793ac5d290a97564b5a3d8b57cb15ba9f7ea2eb944f573d9","target":"graph","created_at":"2026-07-05T11:46:58Z","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/2508.00584/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque sensor. The proposed control scheme is based on the notion of admittance control, and incorporates a variable damping term aiming towards increasing the controllability of the human and, at the same time, decreasing her/his effort. Furthermore, to ensure that the object is not detached from the suction cup during the collaboration, an additional control signal is","authors_text":"Dimitrios Papageorgiou, Drosakis Drosakis, Emmanouil Papadakis, Konstantinos Plotas, Panos Trahanias","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T12:33:28Z","title":"A control scheme for collaborative object transportation between a human and a quadruped robot using the MIGHTY suction cup"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.00584","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":"sha256:17a4fcde57615da6b376db6300737886dd4fc527f74b54bfe8ed17ceb0ec4c70","target":"record","created_at":"2026-07-05T11:46:58Z","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":"a882fddbfdf55d03804a39d1f828a8374e2983a0f0b2fbac68ca26df3a4bb238","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T12:33:28Z","title_canon_sha256":"eb5727c0adc34e6591404fed50bc7068679d7ff24f0be8c9f13a6928df2b78a8"},"schema_version":"1.0","source":{"id":"2508.00584","kind":"arxiv","version":1}},"canonical_sha256":"97808d55536deaf123ad79f148f0e9b953db1663a2933964d0a265af5ea0fbca","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"97808d55536deaf123ad79f148f0e9b953db1663a2933964d0a265af5ea0fbca","first_computed_at":"2026-07-05T11:46:58.598271Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:46:58.598271Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"actgoT+9Vc0gN/ijEZHC8GxcuAGxt0aa2s7dOWYNYhrmvup71KqIMb+6AH1H+3nt/5c0lID9MMz/Fs2AGF2bDg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:46:58.598757Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.00584","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:17a4fcde57615da6b376db6300737886dd4fc527f74b54bfe8ed17ceb0ec4c70","sha256:f4087bf8d3ae20e7793ac5d290a97564b5a3d8b57cb15ba9f7ea2eb944f573d9"],"state_sha256":"7a7f5066122458ffe7fb22874b0e851d381fa55a23131f308b34badd7c221236"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tVIZYS3/MRKKSePu1jhizI0SObbrAYlPpsnC4yiBoJXnGhbgw2M9Zryt0YtjBvpRbqjPvdADUJ5nCDXSR/v0Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-21T02:37:05.251029Z","bundle_sha256":"cfd6b107fb9b419ee936e2ea48073a2d797ac1dcaf8319b5f6f264de444494a9"}}