Pith Number

pith:THXBXTNZ

pith:2025:THXBXTNZKR6XOTQ24WN2W5HM5I

not attested not anchored not stored refs pending

Fast and Modular Whole-Body Lagrangian Dynamics of Legged Robots with Changing Morphology

Omar Abdelrahman, Robin Chhabra, Sahand Farghdani

arxiv:2504.16383 v1 · 2025-04-23 · cs.RO · nlin.AO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{THXBXTNZKR6XOTQ24WN2W5HM5I}

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.

Cited by

1 paper in Pith

Robust Embodied Self-Identification of Morphology in Damaged Multi-Legged Robots

Receipt and verification

First computed	2026-07-05T10:52:45.950961Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

99ee1bcdb9547d774e1ae59bab74ecea1a66e1269ac4d426bf74a9a1a220dd40

Aliases

arxiv: 2504.16383 · arxiv_version: 2504.16383v1 · doi: 10.48550/arxiv.2504.16383 · pith_short_12: THXBXTNZKR6X · pith_short_16: THXBXTNZKR6XOTQ2 · pith_short_8: THXBXTNZ

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/THXBXTNZKR6XOTQ24WN2W5HM5I \
  | 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: 99ee1bcdb9547d774e1ae59bab74ecea1a66e1269ac4d426bf74a9a1a220dd40

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6d2fcb6155fb7b3158adc085948fa100924b8f7c42ccdc6f1506e2f6977c2b3a",
    "cross_cats_sorted": [
      "nlin.AO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-23T03:24:57Z",
    "title_canon_sha256": "d816ee9a2442150dac27e0021825ecf94604e962c6b96dae81d83104b69c65c6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.16383",
    "kind": "arxiv",
    "version": 1
  }
}