Pith Number

pith:VH4SYYIF

pith:2026:VH4SYYIFIETJ7KFLARPWR2WU6B

not attested not anchored not stored refs pending

VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation

Jiaming Wang, Lingwei Zhang, Tianlin Zhang, Weipeng Xia, Xuanqi Zeng, Yun-hui Liu, Zhitao Song, Zhongyu Li

Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators.

arxiv:2605.10696 v2 · 2026-05-11 · cs.RO

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\usepackage{pith}
\pithnumber{VH4SYYIFIETJ7KFLARPWR2WU6B}

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Record completeness

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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.

Claims

C1strongest claim

We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints.

C2weakest assumption

That the voltage-constrained actuator model used to compute realizable accelerations accurately captures all relevant physical limits without significant unmodeled effects such as delays or friction.

C3one line summary

VRA is a new acceleration interface that grounds discrete-time joint commands in voltage-constrained electric actuator physics to ensure realizability.

Receipt and verification

First computed	2026-05-22T01:04:05.959082Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a9f92c610541269fa8ab045f68ead4f04694888598f616b109f7abe08a57f8d0

Aliases

arxiv: 2605.10696 · arxiv_version: 2605.10696v2 · doi: 10.48550/arxiv.2605.10696 · pith_short_12: VH4SYYIFIETJ · pith_short_16: VH4SYYIFIETJ7KFL · pith_short_8: VH4SYYIF

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/VH4SYYIFIETJ7KFLARPWR2WU6B \
  | 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: a9f92c610541269fa8ab045f68ead4f04694888598f616b109f7abe08a57f8d0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "709d518fe2f669d6c7bb1eab8cb59de801ca89630c47def5edea7795a309e9ca",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-11T15:11:45Z",
    "title_canon_sha256": "dca88b5fa105492a9c5d83dfc4d9a5f812b088f49379989e808f08d66f2bab46"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.10696",
    "kind": "arxiv",
    "version": 2
  }
}