{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2010:WLQRB7C7VZZKPUN65VMXUUNKHN","short_pith_number":"pith:WLQRB7C7","schema_version":"1.0","canonical_sha256":"b2e110fc5fae72a7d1beed597a51aa3b76c968e797f968ffec0bccb977b10464","source":{"kind":"arxiv","id":"1009.4444","version":2},"attestation_state":"computed","paper":{"title":"Universal Robotic Gripper based on the Jamming of Granular Material","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cond-mat.soft","authors_text":"Annan Mozeika, Eric Brown, Erik Steltz, Heinrich M. Jaeger, Hod Lipson, John Amend, Mitchell R. Zakin, Nicholas Rodenberg","submitted_at":"2010-09-22T18:54:21Z","abstract_excerpt":"Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current designs are based on the multi-fingered hand, but this approach introduces hardware and software complexities. These include large numbers of controllable joints, the need for force sensing if objects are to be handled securely without crushing them, and the computational overhead to decide how much stress each finger should apply and where. Here we demonstrate "},"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":"1009.4444","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cond-mat.soft","submitted_at":"2010-09-22T18:54:21Z","cross_cats_sorted":[],"title_canon_sha256":"87bae642b49c4326e920b9a827b70ec95fd985ceecb38df1279c1f0278578d37","abstract_canon_sha256":"dbbde8a386b8273456ff44133ea754afa288c9699f07931a2990778ed09fb4fe"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:05:18.466592Z","signature_b64":"51EpSHFHfG71KsZBASMQfmn+Pz50uyEGfp356Jv3ra02oqd6kOkjCznctIJBz2JW0jvgGYcyGMHSl/ObZaSWCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b2e110fc5fae72a7d1beed597a51aa3b76c968e797f968ffec0bccb977b10464","last_reissued_at":"2026-05-18T02:05:18.465759Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:05:18.465759Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Universal Robotic Gripper based on the Jamming of Granular Material","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cond-mat.soft","authors_text":"Annan Mozeika, Eric Brown, Erik Steltz, Heinrich M. Jaeger, Hod Lipson, John Amend, Mitchell R. Zakin, Nicholas Rodenberg","submitted_at":"2010-09-22T18:54:21Z","abstract_excerpt":"Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current designs are based on the multi-fingered hand, but this approach introduces hardware and software complexities. These include large numbers of controllable joints, the need for force sensing if objects are to be handled securely without crushing them, and the computational overhead to decide how much stress each finger should apply and where. Here we demonstrate "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1009.4444","kind":"arxiv","version":2},"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":"1009.4444","created_at":"2026-05-18T02:05:18.465870+00:00"},{"alias_kind":"arxiv_version","alias_value":"1009.4444v2","created_at":"2026-05-18T02:05:18.465870+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1009.4444","created_at":"2026-05-18T02:05:18.465870+00:00"},{"alias_kind":"pith_short_12","alias_value":"WLQRB7C7VZZK","created_at":"2026-05-18T12:26:15.391820+00:00"},{"alias_kind":"pith_short_16","alias_value":"WLQRB7C7VZZKPUN6","created_at":"2026-05-18T12:26:15.391820+00:00"},{"alias_kind":"pith_short_8","alias_value":"WLQRB7C7","created_at":"2026-05-18T12:26:15.391820+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/WLQRB7C7VZZKPUN65VMXUUNKHN","json":"https://pith.science/pith/WLQRB7C7VZZKPUN65VMXUUNKHN.json","graph_json":"https://pith.science/api/pith-number/WLQRB7C7VZZKPUN65VMXUUNKHN/graph.json","events_json":"https://pith.science/api/pith-number/WLQRB7C7VZZKPUN65VMXUUNKHN/events.json","paper":"https://pith.science/paper/WLQRB7C7"},"agent_actions":{"view_html":"https://pith.science/pith/WLQRB7C7VZZKPUN65VMXUUNKHN","download_json":"https://pith.science/pith/WLQRB7C7VZZKPUN65VMXUUNKHN.json","view_paper":"https://pith.science/paper/WLQRB7C7","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1009.4444&json=true","fetch_graph":"https://pith.science/api/pith-number/WLQRB7C7VZZKPUN65VMXUUNKHN/graph.json","fetch_events":"https://pith.science/api/pith-number/WLQRB7C7VZZKPUN65VMXUUNKHN/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/WLQRB7C7VZZKPUN65VMXUUNKHN/action/timestamp_anchor","attest_storage":"https://pith.science/pith/WLQRB7C7VZZKPUN65VMXUUNKHN/action/storage_attestation","attest_author":"https://pith.science/pith/WLQRB7C7VZZKPUN65VMXUUNKHN/action/author_attestation","sign_citation":"https://pith.science/pith/WLQRB7C7VZZKPUN65VMXUUNKHN/action/citation_signature","submit_replication":"https://pith.science/pith/WLQRB7C7VZZKPUN65VMXUUNKHN/action/replication_record"}},"created_at":"2026-05-18T02:05:18.465870+00:00","updated_at":"2026-05-18T02:05:18.465870+00:00"}