{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:X54XUO2CLNYRKHOHBCNZHBX7KO","short_pith_number":"pith:X54XUO2C","canonical_record":{"source":{"id":"2210.00182","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-01T03:57:14Z","cross_cats_sorted":[],"title_canon_sha256":"f6c5f993ed9b18b8923212e8f0a6aee1a3439bf3a729c5f0e6a5744e03845a9f","abstract_canon_sha256":"7f7c8ce62e743490f461c8e3d67d303f9f7e415673ca742f6b71a268b64f8a90"},"schema_version":"1.0"},"canonical_sha256":"bf797a3b425b71151dc7089b9386ff53b0be7d964fd9fbb8ebc5000accb290a5","source":{"kind":"arxiv","id":"2210.00182","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.00182","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"arxiv_version","alias_value":"2210.00182v1","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.00182","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"pith_short_12","alias_value":"X54XUO2CLNYR","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"pith_short_16","alias_value":"X54XUO2CLNYRKHOH","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"pith_short_8","alias_value":"X54XUO2C","created_at":"2026-07-05T05:02:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:X54XUO2CLNYRKHOHBCNZHBX7KO","target":"record","payload":{"canonical_record":{"source":{"id":"2210.00182","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-01T03:57:14Z","cross_cats_sorted":[],"title_canon_sha256":"f6c5f993ed9b18b8923212e8f0a6aee1a3439bf3a729c5f0e6a5744e03845a9f","abstract_canon_sha256":"7f7c8ce62e743490f461c8e3d67d303f9f7e415673ca742f6b71a268b64f8a90"},"schema_version":"1.0"},"canonical_sha256":"bf797a3b425b71151dc7089b9386ff53b0be7d964fd9fbb8ebc5000accb290a5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:02:29.445915Z","signature_b64":"iHN6AZ9bjBCQSCems/ydNSL9eMfH56SUrQ8kaKg1fv+lWbxu2Odt/LOHSjjP1N0F+fTHqCtVvZrZ2f40wc1qBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bf797a3b425b71151dc7089b9386ff53b0be7d964fd9fbb8ebc5000accb290a5","last_reissued_at":"2026-07-05T05:02:29.445486Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:02:29.445486Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.00182","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":"2026-07-05T05:02:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gHsRh8OiHrPzNo13WgwI5mtlIkiX7LKbcnkN6emSmrq6hPHWXGavT6CKHAo3pLyxhkCRnuD4hvvo4JOMN0iKAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T12:31:18.775783Z"},"content_sha256":"a57023706b35f6f44f5be54f1702c11e117827ed5cd24879b0c26e770f55a300","schema_version":"1.0","event_id":"sha256:a57023706b35f6f44f5be54f1702c11e117827ed5cd24879b0c26e770f55a300"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:X54XUO2CLNYRKHOHBCNZHBX7KO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Configuration Tracking Control of a Multi-Segment Soft Robotic Arm Using a Cosserat Rod Model","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Azadeh Doroudchi, Spring Berman, Wenlong Zhang, Zhi Qiao","submitted_at":"2022-10-01T03:57:14Z","abstract_excerpt":"Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed of independently controllable segments, using a Cosserat rod model of the robot and the distributed sensing and actuation capabilities of the segments. Our controller solves the inverse dynamic problem by simulating the Cosserat rod model in MATLAB using a computationally efficient numerical solution scheme, and it applies the computed control output to the a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.00182","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/2210.00182/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":"2026-07-05T05:02:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"V5wD2tPvFNmuQ0nVr13RJIiZhGMIpXlPO5534mV8qPHsdjWDno4nuF6UT70Du62uicsl5PQ32xnHRI2+mCZKAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T12:31:18.776162Z"},"content_sha256":"a420e3469ed14ab4a12df5a7cd912768afa732338b387fc3c020df4baa466374","schema_version":"1.0","event_id":"sha256:a420e3469ed14ab4a12df5a7cd912768afa732338b387fc3c020df4baa466374"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/X54XUO2CLNYRKHOHBCNZHBX7KO/bundle.json","state_url":"https://pith.science/pith/X54XUO2CLNYRKHOHBCNZHBX7KO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/X54XUO2CLNYRKHOHBCNZHBX7KO/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":"2026-07-10T12:31:18Z","links":{"resolver":"https://pith.science/pith/X54XUO2CLNYRKHOHBCNZHBX7KO","bundle":"https://pith.science/pith/X54XUO2CLNYRKHOHBCNZHBX7KO/bundle.json","state":"https://pith.science/pith/X54XUO2CLNYRKHOHBCNZHBX7KO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/X54XUO2CLNYRKHOHBCNZHBX7KO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:X54XUO2CLNYRKHOHBCNZHBX7KO","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":"7f7c8ce62e743490f461c8e3d67d303f9f7e415673ca742f6b71a268b64f8a90","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-01T03:57:14Z","title_canon_sha256":"f6c5f993ed9b18b8923212e8f0a6aee1a3439bf3a729c5f0e6a5744e03845a9f"},"schema_version":"1.0","source":{"id":"2210.00182","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.00182","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"arxiv_version","alias_value":"2210.00182v1","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.00182","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"pith_short_12","alias_value":"X54XUO2CLNYR","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"pith_short_16","alias_value":"X54XUO2CLNYRKHOH","created_at":"2026-07-05T05:02:29Z"},{"alias_kind":"pith_short_8","alias_value":"X54XUO2C","created_at":"2026-07-05T05:02:29Z"}],"graph_snapshots":[{"event_id":"sha256:a420e3469ed14ab4a12df5a7cd912768afa732338b387fc3c020df4baa466374","target":"graph","created_at":"2026-07-05T05:02:29Z","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/2210.00182/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed of independently controllable segments, using a Cosserat rod model of the robot and the distributed sensing and actuation capabilities of the segments. Our controller solves the inverse dynamic problem by simulating the Cosserat rod model in MATLAB using a computationally efficient numerical solution scheme, and it applies the computed control output to the a","authors_text":"Azadeh Doroudchi, Spring Berman, Wenlong Zhang, Zhi Qiao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-01T03:57:14Z","title":"Configuration Tracking Control of a Multi-Segment Soft Robotic Arm Using a Cosserat Rod Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.00182","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:a57023706b35f6f44f5be54f1702c11e117827ed5cd24879b0c26e770f55a300","target":"record","created_at":"2026-07-05T05:02:29Z","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":"7f7c8ce62e743490f461c8e3d67d303f9f7e415673ca742f6b71a268b64f8a90","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-01T03:57:14Z","title_canon_sha256":"f6c5f993ed9b18b8923212e8f0a6aee1a3439bf3a729c5f0e6a5744e03845a9f"},"schema_version":"1.0","source":{"id":"2210.00182","kind":"arxiv","version":1}},"canonical_sha256":"bf797a3b425b71151dc7089b9386ff53b0be7d964fd9fbb8ebc5000accb290a5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bf797a3b425b71151dc7089b9386ff53b0be7d964fd9fbb8ebc5000accb290a5","first_computed_at":"2026-07-05T05:02:29.445486Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:02:29.445486Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"iHN6AZ9bjBCQSCems/ydNSL9eMfH56SUrQ8kaKg1fv+lWbxu2Odt/LOHSjjP1N0F+fTHqCtVvZrZ2f40wc1qBA==","signature_status":"signed_v1","signed_at":"2026-07-05T05:02:29.445915Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.00182","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a57023706b35f6f44f5be54f1702c11e117827ed5cd24879b0c26e770f55a300","sha256:a420e3469ed14ab4a12df5a7cd912768afa732338b387fc3c020df4baa466374"],"state_sha256":"455efbb62b231b231ea00b1b5bc59574ffd79d7d902b20495ee1e14dccad458e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7hgrweKC4Z+Wh8uLYM0iNkgnWyYRWRVUrbil8z90i8OWtUfktji2fDjXEsXParN0fXOa8j9JEHh1RAMBy+zwAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-10T12:31:18.778109Z","bundle_sha256":"dff60533af903b414d966a7793e2594a4cc39d12e15d0c66e009a5e9c832e6a5"}}