Pith Number

pith:WKKJ4YJX

pith:2013:WKKJ4YJXJAAKRNFZPHALHXFDU3

not attested not anchored not stored refs pending

A Compliant, Underactuated Hand for Robust Manipulation

Aaron M. Dollar, Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee, Martin Buehler, Nicholas Corson, Raymond R. Ma, Robert D. Howe, Robert Kohout, Yaroslav Tenzer

arxiv:1301.4394 v1 · 2013-01-17 · 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{WKKJ4YJXJAAKRNFZPHALHXFDU3}

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	2026-05-18T03:36:05.503080Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b2949e61374800a8b4b979c0b3dca3a6e2616648816604c77c9a3811c025d720

Aliases

arxiv: 1301.4394 · arxiv_version: 1301.4394v1 · doi: 10.48550/arxiv.1301.4394 · pith_short_12: WKKJ4YJXJAAK · pith_short_16: WKKJ4YJXJAAKRNFZ · pith_short_8: WKKJ4YJX

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/WKKJ4YJXJAAKRNFZPHALHXFDU3 \
  | 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: b2949e61374800a8b4b979c0b3dca3a6e2616648816604c77c9a3811c025d720

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "76fca4ace2d39ddb6cc87038ae24ef03387e614e33ddc208793bbce0a829628e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2013-01-17T04:21:28Z",
    "title_canon_sha256": "54ff6a48e7cb2d50bb0fe03e302f70dba2773765c57e2c98c9e273e569eafbb5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1301.4394",
    "kind": "arxiv",
    "version": 1
  }
}