{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:XGMR7LGRJMJAWAOLHVHHP7NRRB","short_pith_number":"pith:XGMR7LGR","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"},"canonical_sha256":"b9991facd14b120b01cb3d4e77fdb18871369e8d37dc3890949c970317448cd8","source":{"kind":"arxiv","id":"2404.00892","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.00892","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"arxiv_version","alias_value":"2404.00892v1","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.00892","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"pith_short_12","alias_value":"XGMR7LGRJMJA","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"pith_short_16","alias_value":"XGMR7LGRJMJAWAOL","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"pith_short_8","alias_value":"XGMR7LGR","created_at":"2026-07-05T08:02:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:XGMR7LGRJMJAWAOLHVHHP7NRRB","target":"record","payload":{"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"},"canonical_sha256":"b9991facd14b120b01cb3d4e77fdb18871369e8d37dc3890949c970317448cd8","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"},"source_kind":"arxiv","source_id":"2404.00892","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":"2026-07-05T08:02:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"r7epqxW2L1UUxN61jIP3QH8fZo6tq5QqpG24fTVh/xx/6Fb7D9/kynbIabtzkrKN8FvR5e0VvpjOa+gkWqCkAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T20:27:22.735311Z"},"content_sha256":"c1242596d3cc1d1270bcbd82e7a47bbd397cfac0549cd739fa2b4b5e30b2bbde","schema_version":"1.0","event_id":"sha256:c1242596d3cc1d1270bcbd82e7a47bbd397cfac0549cd739fa2b4b5e30b2bbde"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:XGMR7LGRJMJAWAOLHVHHP7NRRB","target":"graph","payload":{"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:02:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1g+0WlVFcl6BMJxxVBh3aWnZKhaXxBEdNgH1XDCphbx8hAFOnwMB4JueO/6DI+IfW2CL/ILPZwUqkC0B8AjmBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T20:27:22.735794Z"},"content_sha256":"035df6962f62029aaf502fb8fc3d044b89ef533a4d650e0601def2cdf203db65","schema_version":"1.0","event_id":"sha256:035df6962f62029aaf502fb8fc3d044b89ef533a4d650e0601def2cdf203db65"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/bundle.json","state_url":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/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":"2026-08-06T20:27:22Z","links":{"resolver":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB","bundle":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/bundle.json","state":"https://pith.science/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XGMR7LGRJMJAWAOLHVHHP7NRRB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:XGMR7LGRJMJAWAOLHVHHP7NRRB","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":"486bab6fb9e89994fa1d9422542420e06fa7d74c5fd4db00eaa95504303bd7b6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-01T03:38:19Z","title_canon_sha256":"88b5046d69079753af9c9e8ed6d9f3bea2cbb87ef22e5f8c9615afc0d8760b75"},"schema_version":"1.0","source":{"id":"2404.00892","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.00892","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"arxiv_version","alias_value":"2404.00892v1","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.00892","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"pith_short_12","alias_value":"XGMR7LGRJMJA","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"pith_short_16","alias_value":"XGMR7LGRJMJAWAOL","created_at":"2026-07-05T08:02:58Z"},{"alias_kind":"pith_short_8","alias_value":"XGMR7LGR","created_at":"2026-07-05T08:02:58Z"}],"graph_snapshots":[{"event_id":"sha256:035df6962f62029aaf502fb8fc3d044b89ef533a4d650e0601def2cdf203db65","target":"graph","created_at":"2026-07-05T08:02:58Z","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/2404.00892/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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 ","authors_text":"Kei Okada, Kento Kawaharazuka, Masayuki Inaba","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-01T03:38:19Z","title":"Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.00892","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:c1242596d3cc1d1270bcbd82e7a47bbd397cfac0549cd739fa2b4b5e30b2bbde","target":"record","created_at":"2026-07-05T08:02:58Z","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":"486bab6fb9e89994fa1d9422542420e06fa7d74c5fd4db00eaa95504303bd7b6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-01T03:38:19Z","title_canon_sha256":"88b5046d69079753af9c9e8ed6d9f3bea2cbb87ef22e5f8c9615afc0d8760b75"},"schema_version":"1.0","source":{"id":"2404.00892","kind":"arxiv","version":1}},"canonical_sha256":"b9991facd14b120b01cb3d4e77fdb18871369e8d37dc3890949c970317448cd8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b9991facd14b120b01cb3d4e77fdb18871369e8d37dc3890949c970317448cd8","first_computed_at":"2026-07-05T08:02:58.226001Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:02:58.226001Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DCfe8I7tgdI0y6zeZjvh0YZLyKHjwYnZL1QkiG7nXUaG9KQ4kdV8H0hBCkjOlmn58Mmx2180XcD2bmiZQKvECw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:02:58.226776Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.00892","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c1242596d3cc1d1270bcbd82e7a47bbd397cfac0549cd739fa2b4b5e30b2bbde","sha256:035df6962f62029aaf502fb8fc3d044b89ef533a4d650e0601def2cdf203db65"],"state_sha256":"60e3e5d14fdaab45e850215fe7fb0429397053fc4432fa04de266ce557c8e4c1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"10zBoPBdLueFY1CIfrI8/0sQvObpUCSHNiMRS7PkOpGHPNqYzUWYMll5sO/Mwx8Badz/aOp5ftP+W5POz3PHCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T20:27:22.739038Z","bundle_sha256":"c39643234c8b83ff2fc441a46edd37285666f0276546afc612fe2bce11fcb9a2"}}