{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:X4SKEGY4SRA5PJD4DAVMI35KKR","short_pith_number":"pith:X4SKEGY4","canonical_record":{"source":{"id":"2008.00376","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-02T01:18:18Z","cross_cats_sorted":[],"title_canon_sha256":"1ba632942fc5ab899ff72c7511f39933ca243a55afafcd6b7f6d43a175741635","abstract_canon_sha256":"be348609495dc2bb8bfa0434103bd71a099094278f9ecc3821b1a10bd4476faa"},"schema_version":"1.0"},"canonical_sha256":"bf24a21b1c9441d7a47c182ac46faa547c2d2176684a80b2bca398c3a12a9be9","source":{"kind":"arxiv","id":"2008.00376","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.00376","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"arxiv_version","alias_value":"2008.00376v1","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.00376","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"pith_short_12","alias_value":"X4SKEGY4SRA5","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"pith_short_16","alias_value":"X4SKEGY4SRA5PJD4","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"pith_short_8","alias_value":"X4SKEGY4","created_at":"2026-07-05T01:24:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:X4SKEGY4SRA5PJD4DAVMI35KKR","target":"record","payload":{"canonical_record":{"source":{"id":"2008.00376","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-02T01:18:18Z","cross_cats_sorted":[],"title_canon_sha256":"1ba632942fc5ab899ff72c7511f39933ca243a55afafcd6b7f6d43a175741635","abstract_canon_sha256":"be348609495dc2bb8bfa0434103bd71a099094278f9ecc3821b1a10bd4476faa"},"schema_version":"1.0"},"canonical_sha256":"bf24a21b1c9441d7a47c182ac46faa547c2d2176684a80b2bca398c3a12a9be9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:24:07.201640Z","signature_b64":"znwiGM0dyJbr7AQyb1N88LkieTNO3dEAvXzbzzvcFAfyUtZVZsIKoAAlqn4/HRKIkj0h9Fshv5EKzX26JaKPAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bf24a21b1c9441d7a47c182ac46faa547c2d2176684a80b2bca398c3a12a9be9","last_reissued_at":"2026-07-05T01:24:07.201261Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:24:07.201261Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2008.00376","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:24:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gMgebTik51ZaHpt3v5UVosKfZ+Mi0xFTeLgmIqYeQCE23gXMRcM5vHaPH58+dSDVfOfre6VmHjRo+CWBnRtYCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T17:52:19.556353Z"},"content_sha256":"6d0e26ec3c70b220b0b1cc144507bc6ea796da9c687aa0cb65b8995324d05a66","schema_version":"1.0","event_id":"sha256:6d0e26ec3c70b220b0b1cc144507bc6ea796da9c687aa0cb65b8995324d05a66"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:X4SKEGY4SRA5PJD4DAVMI35KKR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ayonga Hereid, Bowen Weng, Guillermo A. Castillo, Terrence C. Stewart, Wei Zhang","submitted_at":"2020-08-02T01:18:18Z","abstract_excerpt":"This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the implementation of heuristic regulators that do not consider model and environmental uncertainties, which may significantly affect the tracking performance of the controllers. In this paper, we address the uncertainties in the robot dynamics from the perspective of the reduced dimensional representation of virtual constraints and propose the integration of an "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.00376","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2008.00376/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:24:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"L2mGv09bjjqWy4w5b+0DH0JKjyjZb1QmPIsu5OsoVWwhvfMnySrJomTYPItGDGFlAPSlBkNXPjlFy8srThwRBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T17:52:19.557150Z"},"content_sha256":"39126f617b1b7f9ff58fc2a1776da5ccb508560b8fdfe344624bf5f5a766d0b8","schema_version":"1.0","event_id":"sha256:39126f617b1b7f9ff58fc2a1776da5ccb508560b8fdfe344624bf5f5a766d0b8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/X4SKEGY4SRA5PJD4DAVMI35KKR/bundle.json","state_url":"https://pith.science/pith/X4SKEGY4SRA5PJD4DAVMI35KKR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/X4SKEGY4SRA5PJD4DAVMI35KKR/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-11T17:52:19Z","links":{"resolver":"https://pith.science/pith/X4SKEGY4SRA5PJD4DAVMI35KKR","bundle":"https://pith.science/pith/X4SKEGY4SRA5PJD4DAVMI35KKR/bundle.json","state":"https://pith.science/pith/X4SKEGY4SRA5PJD4DAVMI35KKR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/X4SKEGY4SRA5PJD4DAVMI35KKR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:X4SKEGY4SRA5PJD4DAVMI35KKR","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":"be348609495dc2bb8bfa0434103bd71a099094278f9ecc3821b1a10bd4476faa","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-02T01:18:18Z","title_canon_sha256":"1ba632942fc5ab899ff72c7511f39933ca243a55afafcd6b7f6d43a175741635"},"schema_version":"1.0","source":{"id":"2008.00376","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.00376","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"arxiv_version","alias_value":"2008.00376v1","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.00376","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"pith_short_12","alias_value":"X4SKEGY4SRA5","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"pith_short_16","alias_value":"X4SKEGY4SRA5PJD4","created_at":"2026-07-05T01:24:07Z"},{"alias_kind":"pith_short_8","alias_value":"X4SKEGY4","created_at":"2026-07-05T01:24:07Z"}],"graph_snapshots":[{"event_id":"sha256:39126f617b1b7f9ff58fc2a1776da5ccb508560b8fdfe344624bf5f5a766d0b8","target":"graph","created_at":"2026-07-05T01:24:07Z","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/2008.00376/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the implementation of heuristic regulators that do not consider model and environmental uncertainties, which may significantly affect the tracking performance of the controllers. In this paper, we address the uncertainties in the robot dynamics from the perspective of the reduced dimensional representation of virtual constraints and propose the integration of an ","authors_text":"Ayonga Hereid, Bowen Weng, Guillermo A. Castillo, Terrence C. Stewart, Wei Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-02T01:18:18Z","title":"Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.00376","kind":"arxiv","version":1},"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":"sha256:6d0e26ec3c70b220b0b1cc144507bc6ea796da9c687aa0cb65b8995324d05a66","target":"record","created_at":"2026-07-05T01:24:07Z","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":"be348609495dc2bb8bfa0434103bd71a099094278f9ecc3821b1a10bd4476faa","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-02T01:18:18Z","title_canon_sha256":"1ba632942fc5ab899ff72c7511f39933ca243a55afafcd6b7f6d43a175741635"},"schema_version":"1.0","source":{"id":"2008.00376","kind":"arxiv","version":1}},"canonical_sha256":"bf24a21b1c9441d7a47c182ac46faa547c2d2176684a80b2bca398c3a12a9be9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bf24a21b1c9441d7a47c182ac46faa547c2d2176684a80b2bca398c3a12a9be9","first_computed_at":"2026-07-05T01:24:07.201261Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:24:07.201261Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"znwiGM0dyJbr7AQyb1N88LkieTNO3dEAvXzbzzvcFAfyUtZVZsIKoAAlqn4/HRKIkj0h9Fshv5EKzX26JaKPAA==","signature_status":"signed_v1","signed_at":"2026-07-05T01:24:07.201640Z","signed_message":"canonical_sha256_bytes"},"source_id":"2008.00376","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6d0e26ec3c70b220b0b1cc144507bc6ea796da9c687aa0cb65b8995324d05a66","sha256:39126f617b1b7f9ff58fc2a1776da5ccb508560b8fdfe344624bf5f5a766d0b8"],"state_sha256":"f2f80dd9033841a55d90d986cad77217b3e8819288284d5dc4b51cd6269dcd4e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mJudeJ66TKG2Nu8J5f3L4UrCX2ae95tvg17wxnj0WAY5JB93ATrGmqQCeAyAtk0+Rrh0iGcDemsSJBILYq6aCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T17:52:19.562631Z","bundle_sha256":"0532449545b5d58de00765e0c02888e2db2db8e07538dc9fbb37458514ad195e"}}