Pith Number

pith:V3WFWNLJ

pith:2021:V3WFWNLJJQMQ3VZ7CZVBSVMCJB

not attested not anchored not stored refs pending

On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts

Abderrahmane Kheddar, Niels Dehio, Yuquan Wang

arxiv:2109.04756 v3 · 2021-09-10 · 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{V3WFWNLJJQMQ3VZ7CZVBSVMCJB}

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	2026-07-05T06:35:03.184891Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

aeec5b35694c190dd73f166a195582486f5890966f13d597e7379f9d61c64b30

Aliases

arxiv: 2109.04756 · arxiv_version: 2109.04756v3 · doi: 10.48550/arxiv.2109.04756 · pith_short_12: V3WFWNLJJQMQ · pith_short_16: V3WFWNLJJQMQ3VZ7 · pith_short_8: V3WFWNLJ

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/V3WFWNLJJQMQ3VZ7CZVBSVMCJB \
  | 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: aeec5b35694c190dd73f166a195582486f5890966f13d597e7379f9d61c64b30

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "305ff0f168b62e15d4e9210d57837ea2a61954f1669a62ad997dbc1e9afd66d7",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-10T09:45:29Z",
    "title_canon_sha256": "f8b17e44b9c8b91323760c3a68b215ddad777b6514832e198b9deb5c9e5078d7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.04756",
    "kind": "arxiv",
    "version": 3
  }
}