Pith Number

pith:WZ4PFTTS

pith:2018:WZ4PFTTS5UUWEJ4BIIQBEFKC2L

not attested not anchored not stored refs pending

Model-Predictive Control with Inverse Statics Optimization for Tensegrity Spine Robots

Adrian K. Agogino, Alice M. Agogino, Andrew P. Sabelhaus, Edward L. Zhu, Huajing Zhao

arxiv:1806.08868 v2 · 2018-06-22 · eess.SY · cs.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{WZ4PFTTS5UUWEJ4BIIQBEFKC2L}

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	2026-06-04T19:12:00.477640Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b678f2ce72ed296227814220121542d2db0ecf1b614eb82e79279abb6594295b

Aliases

arxiv: 1806.08868 · arxiv_version: 1806.08868v2 · doi: 10.48550/arxiv.1806.08868 · pith_short_12: WZ4PFTTS5UUW · pith_short_16: WZ4PFTTS5UUWEJ4B · pith_short_8: WZ4PFTTS

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/WZ4PFTTS5UUWEJ4BIIQBEFKC2L \
  | 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: b678f2ce72ed296227814220121542d2db0ecf1b614eb82e79279abb6594295b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b46fbf97aafea815316fae639f546a882b475508c23f5db28097c5373b40aa23",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2018-06-22T22:19:59Z",
    "title_canon_sha256": "cd9953c4d788e36a175b357a2708a7ea5cc846bcbef736cdb2552f57f56660be"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1806.08868",
    "kind": "arxiv",
    "version": 2
  }
}