Pith Number

pith:WMJPRO3G

pith:2024:WMJPRO3GG5RHHVIYNENEZPRHET

not attested not anchored not stored refs pending

A Method of Joint Angle Estimation Using Only Relative Changes in Muscle Lengths for Tendon-driven Humanoids with Complex Musculoskeletal Structures

Kei Okada, Kento Kawaharazuka, Masaya Kawamura, Masayuki Inaba, Shogo Makino, Yuki Asano

arxiv:2404.14100 v1 · 2024-04-22 · 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{WMJPRO3GG5RHHVIYNENEZPRHET}

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	2026-07-05T08:10:41.766884Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b312f8bb66376273d518691a4cbe2724dde9945410fd7437e2cd758ab60a923f

Aliases

arxiv: 2404.14100 · arxiv_version: 2404.14100v1 · doi: 10.48550/arxiv.2404.14100 · pith_short_12: WMJPRO3GG5RH · pith_short_16: WMJPRO3GG5RHHVIY · pith_short_8: WMJPRO3G

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/WMJPRO3GG5RHHVIYNENEZPRHET \
  | 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: b312f8bb66376273d518691a4cbe2724dde9945410fd7437e2cd758ab60a923f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8c601aea6c37bd2a65d96c77675fe3e2977cc4d4c7d954f6d292f72d124164a6",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-04-22T11:37:47Z",
    "title_canon_sha256": "561970dc44cc38d5ff7c2fc1bd92ce8c17e94845017105b92a4da3a425cfaa6f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2404.14100",
    "kind": "arxiv",
    "version": 1
  }
}