Pith Number

pith:TIDAAENZ

pith:2026:TIDAAENZ7ELLNQKK7ABZWM3KI3

not attested not anchored not stored refs pending

Real-Time Compliance and Position Control of a Hyper-redundant Soft Robotic Arm

Daniel Bruder, Mingyuan Li, Naike Wu, Runze Zuo, Tianhua Zou

arxiv:2606.29731 v1 · 2026-06-29 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{TIDAAENZ7ELLNQKK7ABZWM3KI3}

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.

Receipt and verification

First computed	2026-06-30T02:17:32.482135Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9a060011b9f916b6c14af8039b336a46f51d2056d20b9c4102a7f88017fbfb33

Aliases

arxiv: 2606.29731 · arxiv_version: 2606.29731v1 · doi: 10.48550/arxiv.2606.29731 · pith_short_12: TIDAAENZ7ELL · pith_short_16: TIDAAENZ7ELLNQKK · pith_short_8: TIDAAENZ

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/TIDAAENZ7ELLNQKK7ABZWM3KI3 \
  | 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: 9a060011b9f916b6c14af8039b336a46f51d2056d20b9c4102a7f88017fbfb33

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e94ad26c70ce3b9503199b77df4df1df476f9980c47a8af64fa027230dbbfbe4",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-29T03:12:57Z",
    "title_canon_sha256": "e9d24258027648d026270f2958a790ee8d7f47363764be51cd5eb867f386d3bd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.29731",
    "kind": "arxiv",
    "version": 1
  }
}