{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:X3SBRJWROZESCXFKGN5PHC67O5","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"ca785eff4255194e0e37dab9e9fb0c56a53b569010030e159bbd69377f74448b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-24T07:10:02Z","title_canon_sha256":"44e4074487013b87284185dfc6f11665511fc278176514c790f139e8b2b1d17c"},"schema_version":"1.0","source":{"id":"2502.16908","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.16908","created_at":"2026-07-05T11:09:09Z"},{"alias_kind":"arxiv_version","alias_value":"2502.16908v2","created_at":"2026-07-05T11:09:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.16908","created_at":"2026-07-05T11:09:09Z"},{"alias_kind":"pith_short_12","alias_value":"X3SBRJWROZES","created_at":"2026-07-05T11:09:09Z"},{"alias_kind":"pith_short_16","alias_value":"X3SBRJWROZESCXFK","created_at":"2026-07-05T11:09:09Z"},{"alias_kind":"pith_short_8","alias_value":"X3SBRJWR","created_at":"2026-07-05T11:09:09Z"}],"graph_snapshots":[{"event_id":"sha256:02640cac7d79ad9cdabb3605b8033b0fe9b41a9fdc34ff65c7a65726dffbc4da","target":"graph","created_at":"2026-07-05T11:09:09Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2502.16908/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance, and reliance on expensive torque sensors. To address this, we introduce ARMADA (Affordable Robot for Manipulation and Dynamic Actions), a 6 degrees-of-freedom bimanual robot designed for dynamic manipulation research. ARMADA combines low-inertia, back-drivable actuators with a lightweight design, using readily available components and 3D-printed links for eas","authors_text":"Beomjoon Kim, Dongryung Lee, Jaehyung Kim, Jiho Kim, Yujin Jang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-24T07:10:02Z","title":"A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.16908","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:9f7f4907e15d485352ed209b8dec81e4b1496a0fd792cb66530df81c4432b59e","target":"record","created_at":"2026-07-05T11:09:09Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"ca785eff4255194e0e37dab9e9fb0c56a53b569010030e159bbd69377f74448b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-24T07:10:02Z","title_canon_sha256":"44e4074487013b87284185dfc6f11665511fc278176514c790f139e8b2b1d17c"},"schema_version":"1.0","source":{"id":"2502.16908","kind":"arxiv","version":2}},"canonical_sha256":"bee418a6d17649215caa337af38bdf776b8b6d891df2eda87e0c80fdbe801fa4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bee418a6d17649215caa337af38bdf776b8b6d891df2eda87e0c80fdbe801fa4","first_computed_at":"2026-07-05T11:09:09.011872Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:09:09.011872Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZiQmyOP5Wg/+HsfSbcsM0U+5nAQ50fZq3EV+G3SuWFsu3Y3TST9mam+KTv+prdO7zRvNcZgCSpVAISKlpJoqCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:09:09.012386Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.16908","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9f7f4907e15d485352ed209b8dec81e4b1496a0fd792cb66530df81c4432b59e","sha256:02640cac7d79ad9cdabb3605b8033b0fe9b41a9fdc34ff65c7a65726dffbc4da"],"state_sha256":"bbccc2bc2b56e7c41c37c90f668ede321beafdcf131e794bc7ca31fb00fbd41a"}