{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:VAVKXDXE56QFT32WDZC76GXADC","short_pith_number":"pith:VAVKXDXE","schema_version":"1.0","canonical_sha256":"a82aab8ee4efa059ef561e45ff1ae0188934ab85d4b0e6ce213b89bcc0f12dd1","source":{"kind":"arxiv","id":"2405.11773","version":1},"attestation_state":"computed","paper":{"title":"CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hangxin Liu, Jiayang Wu, Jingwen Zhang, Lining Sun, Shibowen Zhang, Xiaokun Leng, Yao Su, Yapeng Shi, Zhicheng He","submitted_at":"2024-05-20T04:20:25Z","abstract_excerpt":"Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to these tasks often simplify dynamics to enhance computational efficiency, potentially overlooking critical factors such as the control of centroidal angular momentum (CAM) and the variability of centroidal composite rigid body inertia (CCRBI). This paper introduces a novel integrated dynamic planning and control framework, termed centroidal dynamics model-based model predictive control (CDM-MPC), designed for robust "},"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":"2405.11773","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-20T04:20:25Z","cross_cats_sorted":[],"title_canon_sha256":"e09fd7b57246a8252eed1ae66a4fac28caae062ee59fd69150158729e73b17f5","abstract_canon_sha256":"494056a33be86b341b6ea7f8e2339e1f2bfdc381a52cfec46b83ef35ced9eebb"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:20:55.626118Z","signature_b64":"6aBJF+iS1wYmqRTPFwudpZRe+9PG4b57VuLYZJ/Tpj7dXCdEtaT5aN2RUOhXN+SnrZLp2p1hxNthLUZuYix7Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a82aab8ee4efa059ef561e45ff1ae0188934ab85d4b0e6ce213b89bcc0f12dd1","last_reissued_at":"2026-07-05T08:20:55.625517Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:20:55.625517Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hangxin Liu, Jiayang Wu, Jingwen Zhang, Lining Sun, Shibowen Zhang, Xiaokun Leng, Yao Su, Yapeng Shi, Zhicheng He","submitted_at":"2024-05-20T04:20:25Z","abstract_excerpt":"Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to these tasks often simplify dynamics to enhance computational efficiency, potentially overlooking critical factors such as the control of centroidal angular momentum (CAM) and the variability of centroidal composite rigid body inertia (CCRBI). This paper introduces a novel integrated dynamic planning and control framework, termed centroidal dynamics model-based model predictive control (CDM-MPC), designed for robust "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.11773","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2405.11773/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2405.11773","created_at":"2026-07-05T08:20:55.625586+00:00"},{"alias_kind":"arxiv_version","alias_value":"2405.11773v1","created_at":"2026-07-05T08:20:55.625586+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.11773","created_at":"2026-07-05T08:20:55.625586+00:00"},{"alias_kind":"pith_short_12","alias_value":"VAVKXDXE56QF","created_at":"2026-07-05T08:20:55.625586+00:00"},{"alias_kind":"pith_short_16","alias_value":"VAVKXDXE56QFT32W","created_at":"2026-07-05T08:20:55.625586+00:00"},{"alias_kind":"pith_short_8","alias_value":"VAVKXDXE","created_at":"2026-07-05T08:20:55.625586+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/VAVKXDXE56QFT32WDZC76GXADC","json":"https://pith.science/pith/VAVKXDXE56QFT32WDZC76GXADC.json","graph_json":"https://pith.science/api/pith-number/VAVKXDXE56QFT32WDZC76GXADC/graph.json","events_json":"https://pith.science/api/pith-number/VAVKXDXE56QFT32WDZC76GXADC/events.json","paper":"https://pith.science/paper/VAVKXDXE"},"agent_actions":{"view_html":"https://pith.science/pith/VAVKXDXE56QFT32WDZC76GXADC","download_json":"https://pith.science/pith/VAVKXDXE56QFT32WDZC76GXADC.json","view_paper":"https://pith.science/paper/VAVKXDXE","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2405.11773&json=true","fetch_graph":"https://pith.science/api/pith-number/VAVKXDXE56QFT32WDZC76GXADC/graph.json","fetch_events":"https://pith.science/api/pith-number/VAVKXDXE56QFT32WDZC76GXADC/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/VAVKXDXE56QFT32WDZC76GXADC/action/timestamp_anchor","attest_storage":"https://pith.science/pith/VAVKXDXE56QFT32WDZC76GXADC/action/storage_attestation","attest_author":"https://pith.science/pith/VAVKXDXE56QFT32WDZC76GXADC/action/author_attestation","sign_citation":"https://pith.science/pith/VAVKXDXE56QFT32WDZC76GXADC/action/citation_signature","submit_replication":"https://pith.science/pith/VAVKXDXE56QFT32WDZC76GXADC/action/replication_record"}},"created_at":"2026-07-05T08:20:55.625586+00:00","updated_at":"2026-07-05T08:20:55.625586+00:00"}