{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2016:U3GENKYAD5RMKKZ2VVTU3JTVXT","short_pith_number":"pith:U3GENKYA","schema_version":"1.0","canonical_sha256":"a6cc46ab001f62c52b3aad674da675bcdd7b4306a7d0bfb270e8e414d717a903","source":{"kind":"arxiv","id":"1611.08268","version":1},"attestation_state":"computed","paper":{"title":"Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Rodriguez, Francois Robert Hogan","submitted_at":"2016-11-24T17:35:42Z","abstract_excerpt":"This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback controllers. In this research, we examine and test a novel feedback controller design on a planar pushing system, where the purpose is to control the motion of a sliding object on a flat surface using a point robotic pusher. The pusher-slider is a simple dynamical system that retains many of the challenges that are typical of robotic manipulation tasks.\n  Our results"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1611.08268","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-24T17:35:42Z","cross_cats_sorted":[],"title_canon_sha256":"7b0c9da7f46d843c9a55aa18026b658841f80e94a7e1e981126a9aadd1b55f7b","abstract_canon_sha256":"808334934ddfec972edac974242db964555bde50fb4fb14657fd21b8bc138a07"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:56:39.655216Z","signature_b64":"u1NoL6a7ARuWNBdFGXIwvrWK6EkLKa4tYXWzEnBGzPM3q4neF+V3aXUqHsxDQqbmXdDhPk9FX3fwvdLXdaeyDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a6cc46ab001f62c52b3aad674da675bcdd7b4306a7d0bfb270e8e414d717a903","last_reissued_at":"2026-05-18T00:56:39.654559Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:56:39.654559Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Rodriguez, Francois Robert Hogan","submitted_at":"2016-11-24T17:35:42Z","abstract_excerpt":"This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback controllers. In this research, we examine and test a novel feedback controller design on a planar pushing system, where the purpose is to control the motion of a sliding object on a flat surface using a point robotic pusher. The pusher-slider is a simple dynamical system that retains many of the challenges that are typical of robotic manipulation tasks.\n  Our results"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1611.08268","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1611.08268","created_at":"2026-05-18T00:56:39.654661+00:00"},{"alias_kind":"arxiv_version","alias_value":"1611.08268v1","created_at":"2026-05-18T00:56:39.654661+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1611.08268","created_at":"2026-05-18T00:56:39.654661+00:00"},{"alias_kind":"pith_short_12","alias_value":"U3GENKYAD5RM","created_at":"2026-05-18T12:30:46.583412+00:00"},{"alias_kind":"pith_short_16","alias_value":"U3GENKYAD5RMKKZ2","created_at":"2026-05-18T12:30:46.583412+00:00"},{"alias_kind":"pith_short_8","alias_value":"U3GENKYA","created_at":"2026-05-18T12:30:46.583412+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"2504.13170","citing_title":"A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling","ref_index":25,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/U3GENKYAD5RMKKZ2VVTU3JTVXT","json":"https://pith.science/pith/U3GENKYAD5RMKKZ2VVTU3JTVXT.json","graph_json":"https://pith.science/api/pith-number/U3GENKYAD5RMKKZ2VVTU3JTVXT/graph.json","events_json":"https://pith.science/api/pith-number/U3GENKYAD5RMKKZ2VVTU3JTVXT/events.json","paper":"https://pith.science/paper/U3GENKYA"},"agent_actions":{"view_html":"https://pith.science/pith/U3GENKYAD5RMKKZ2VVTU3JTVXT","download_json":"https://pith.science/pith/U3GENKYAD5RMKKZ2VVTU3JTVXT.json","view_paper":"https://pith.science/paper/U3GENKYA","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1611.08268&json=true","fetch_graph":"https://pith.science/api/pith-number/U3GENKYAD5RMKKZ2VVTU3JTVXT/graph.json","fetch_events":"https://pith.science/api/pith-number/U3GENKYAD5RMKKZ2VVTU3JTVXT/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/U3GENKYAD5RMKKZ2VVTU3JTVXT/action/timestamp_anchor","attest_storage":"https://pith.science/pith/U3GENKYAD5RMKKZ2VVTU3JTVXT/action/storage_attestation","attest_author":"https://pith.science/pith/U3GENKYAD5RMKKZ2VVTU3JTVXT/action/author_attestation","sign_citation":"https://pith.science/pith/U3GENKYAD5RMKKZ2VVTU3JTVXT/action/citation_signature","submit_replication":"https://pith.science/pith/U3GENKYAD5RMKKZ2VVTU3JTVXT/action/replication_record"}},"created_at":"2026-05-18T00:56:39.654661+00:00","updated_at":"2026-05-18T00:56:39.654661+00:00"}