Pith Number

pith:WLV7BWIM

pith:2019:WLV7BWIMXBGSFEZIPXZIO565WO

not attested not anchored not stored refs pending

Model-free Friction Observers for Flexible Joint Robots with Torque Measurements

Alin Albu-Schaeffer, Christian Ott, Fabian Beck, Min Jun Kim

arxiv:1907.00553 v1 · 2019-07-01 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{WLV7BWIMXBGSFEZIPXZIO565WO}

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	2026-05-17T23:41:51.233727Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b2ebf0d90cb84d2293287df28777ddb39837312d2ac0122fb16410839a854698

Aliases

arxiv: 1907.00553 · arxiv_version: 1907.00553v1 · doi: 10.48550/arxiv.1907.00553 · pith_short_12: WLV7BWIMXBGS · pith_short_16: WLV7BWIMXBGSFEZI · pith_short_8: WLV7BWIM

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/WLV7BWIMXBGSFEZIPXZIO565WO \
  | 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: b2ebf0d90cb84d2293287df28777ddb39837312d2ac0122fb16410839a854698

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "10b69de7f24c60d037ec35aaa676d6714b0fff2a77e565403fd7039369d9cf5e",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-07-01T05:26:05Z",
    "title_canon_sha256": "3fc4d4f566faa830082ed5eb3dd55b3696d750db469f94547f8e052f86c7d710"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1907.00553",
    "kind": "arxiv",
    "version": 1
  }
}