{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:XGMR7LGRJMJAWAOLHVHHP7NRRB","short_pith_number":"pith:XGMR7LGR","schema_version":"1.0","canonical_sha256":"b9991facd14b120b01cb3d4e77fdb18871369e8d37dc3890949c970317448cd8","source":{"kind":"arxiv","id":"2404.00892","version":1},"attestation_state":"computed","paper":{"title":"Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Kento Kawaharazuka, Masayuki Inaba","submitted_at":"2024-04-01T03:38:19Z","abstract_excerpt":"In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar interskeletal structure of the human mimetic musculoskeletal robot. Also, we develop a constrained teaching method in which one-dimensional control command, its transition, and a transition condition are described for each state in advance, and a threshold value for each transition condition such as joint angles and foot contact sensor values is determined based on "},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2404.00892","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-01T03:38:19Z","cross_cats_sorted":[],"title_canon_sha256":"88b5046d69079753af9c9e8ed6d9f3bea2cbb87ef22e5f8c9615afc0d8760b75","abstract_canon_sha256":"486bab6fb9e89994fa1d9422542420e06fa7d74c5fd4db00eaa95504303bd7b6"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:02:58.226776Z","signature_b64":"DCfe8I7tgdI0y6zeZjvh0YZLyKHjwYnZL1QkiG7nXUaG9KQ4kdV8H0hBCkjOlmn58Mmx2180XcD2bmiZQKvECw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b9991facd14b120b01cb3d4e77fdb18871369e8d37dc3890949c970317448cd8","last_reissued_at":"2026-07-05T08:02:58.226001Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:02:58.226001Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Kento Kawaharazuka, Masayuki Inaba","submitted_at":"2024-04-01T03:38:19Z","abstract_excerpt":"In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar interskeletal structure of the human mimetic musculoskeletal robot. Also, we develop a constrained teaching method in which one-dimensional control command, its transition, and a transition condition are described for each state in advance, and a threshold value for each transition condition such as joint angles and foot contact sensor values is determined based on "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.00892","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/2404.00892/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2404.00892","created_at":"2026-07-05T08:02:58.226083+00:00"},{"alias_kind":"arxiv_version","alias_value":"2404.00892v1","created_at":"2026-07-05T08:02:58.226083+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.00892","created_at":"2026-07-05T08:02:58.226083+00:00"},{"alias_kind":"pith_short_12","alias_value":"XGMR7LGRJMJA","created_at":"2026-07-05T08:02:58.226083+00:00"},{"alias_kind":"pith_short_16","alias_value":"XGMR7LGRJMJAWAOL","created_at":"2026-07-05T08:02:58.226083+00:00"},{"alias_kind":"pith_short_8","alias_value":"XGMR7LGR","created_at":"2026-07-05T08:02:58.226083+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB","json":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB.json","graph_json":"https://pith.science/api/pith-number/XGMR7LGRJMJAWAOLHVHHP7NRRB/graph.json","events_json":"https://pith.science/api/pith-number/XGMR7LGRJMJAWAOLHVHHP7NRRB/events.json","paper":"https://pith.science/paper/XGMR7LGR"},"agent_actions":{"view_html":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB","download_json":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB.json","view_paper":"https://pith.science/paper/XGMR7LGR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2404.00892&json=true","fetch_graph":"https://pith.science/api/pith-number/XGMR7LGRJMJAWAOLHVHHP7NRRB/graph.json","fetch_events":"https://pith.science/api/pith-number/XGMR7LGRJMJAWAOLHVHHP7NRRB/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/action/storage_attestation","attest_author":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/action/author_attestation","sign_citation":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/action/citation_signature","submit_replication":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/action/replication_record"}},"created_at":"2026-07-05T08:02:58.226083+00:00","updated_at":"2026-07-05T08:02:58.226083+00:00"}