{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:URAN7YLQWF3NMBIXYL37D6JKQ2","short_pith_number":"pith:URAN7YLQ","schema_version":"1.0","canonical_sha256":"a440dfe170b176d60517c2f7f1f92a86824a09251235d4bc0cf1479e39b70ca9","source":{"kind":"arxiv","id":"1904.06677","version":1},"attestation_state":"computed","paper":{"title":"Quasi-static Analysis of Planar Sliding Using Friction Patches","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Domenico Prattichizzo, Joao Bimbo, M. Mahdi Ghazaei Ardakani","submitted_at":"2019-04-14T11:14:07Z","abstract_excerpt":"Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger and a flat object on a table. Specifically, using a quasi-static analysis we are able to derive a hybrid dynamical system to predict the motion of the object. The model can be used to find fixed-points of the system and the path taken by the object to reach such configurations. Important information for planning, such as the conditions in which the object st"},"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":"1904.06677","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-14T11:14:07Z","cross_cats_sorted":[],"title_canon_sha256":"58d5391f22fde98b51418d912061f238d38b1cc6799e67818359137d7e2d1c1a","abstract_canon_sha256":"a9fcb9cf4139208c2d5b4515afbdca5bfce8596366ccad273a66e425990b5740"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:48:36.531955Z","signature_b64":"tLe/zpyFeoGP4pggPnz0QOveY5PM2PZZvshcF8IB9UM9neWFRj48+Dm24s3Z3+MMKMvbp48nkqV2/FXksBrABA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a440dfe170b176d60517c2f7f1f92a86824a09251235d4bc0cf1479e39b70ca9","last_reissued_at":"2026-05-17T23:48:36.531497Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:48:36.531497Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Quasi-static Analysis of Planar Sliding Using Friction Patches","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Domenico Prattichizzo, Joao Bimbo, M. Mahdi Ghazaei Ardakani","submitted_at":"2019-04-14T11:14:07Z","abstract_excerpt":"Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger and a flat object on a table. Specifically, using a quasi-static analysis we are able to derive a hybrid dynamical system to predict the motion of the object. The model can be used to find fixed-points of the system and the path taken by the object to reach such configurations. Important information for planning, such as the conditions in which the object st"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.06677","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":"1904.06677","created_at":"2026-05-17T23:48:36.531571+00:00"},{"alias_kind":"arxiv_version","alias_value":"1904.06677v1","created_at":"2026-05-17T23:48:36.531571+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.06677","created_at":"2026-05-17T23:48:36.531571+00:00"},{"alias_kind":"pith_short_12","alias_value":"URAN7YLQWF3N","created_at":"2026-05-18T12:33:30.264802+00:00"},{"alias_kind":"pith_short_16","alias_value":"URAN7YLQWF3NMBIX","created_at":"2026-05-18T12:33:30.264802+00:00"},{"alias_kind":"pith_short_8","alias_value":"URAN7YLQ","created_at":"2026-05-18T12:33:30.264802+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/URAN7YLQWF3NMBIXYL37D6JKQ2","json":"https://pith.science/pith/URAN7YLQWF3NMBIXYL37D6JKQ2.json","graph_json":"https://pith.science/api/pith-number/URAN7YLQWF3NMBIXYL37D6JKQ2/graph.json","events_json":"https://pith.science/api/pith-number/URAN7YLQWF3NMBIXYL37D6JKQ2/events.json","paper":"https://pith.science/paper/URAN7YLQ"},"agent_actions":{"view_html":"https://pith.science/pith/URAN7YLQWF3NMBIXYL37D6JKQ2","download_json":"https://pith.science/pith/URAN7YLQWF3NMBIXYL37D6JKQ2.json","view_paper":"https://pith.science/paper/URAN7YLQ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1904.06677&json=true","fetch_graph":"https://pith.science/api/pith-number/URAN7YLQWF3NMBIXYL37D6JKQ2/graph.json","fetch_events":"https://pith.science/api/pith-number/URAN7YLQWF3NMBIXYL37D6JKQ2/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/URAN7YLQWF3NMBIXYL37D6JKQ2/action/timestamp_anchor","attest_storage":"https://pith.science/pith/URAN7YLQWF3NMBIXYL37D6JKQ2/action/storage_attestation","attest_author":"https://pith.science/pith/URAN7YLQWF3NMBIXYL37D6JKQ2/action/author_attestation","sign_citation":"https://pith.science/pith/URAN7YLQWF3NMBIXYL37D6JKQ2/action/citation_signature","submit_replication":"https://pith.science/pith/URAN7YLQWF3NMBIXYL37D6JKQ2/action/replication_record"}},"created_at":"2026-05-17T23:48:36.531571+00:00","updated_at":"2026-05-17T23:48:36.531571+00:00"}