Pith Number

pith:XYWLK7UY

pith:2020:XYWLK7UYG2LUXJRCCWVUJ4KJKS

not attested not anchored not stored refs pending

Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs

Daniel J. Gonzalez, H. Harry Asada

arxiv:2007.01705 v1 · 2020-07-02 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{XYWLK7UYG2LUXJRCCWVUJ4KJKS}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T01:16:04.347255Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

be2cb57e9836974ba62215ab44f14954a24c0b49f8667c89d5d4036ba32a0b54

Aliases

arxiv: 2007.01705 · arxiv_version: 2007.01705v1 · doi: 10.48550/arxiv.2007.01705 · pith_short_12: XYWLK7UYG2LU · pith_short_16: XYWLK7UYG2LUXJRC · pith_short_8: XYWLK7UY

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/XYWLK7UYG2LUXJRCCWVUJ4KJKS \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: be2cb57e9836974ba62215ab44f14954a24c0b49f8667c89d5d4036ba32a0b54

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "76f370f76b400abd7e0c2ad4e07482f08ef79c159bf8c545e46ce37ef6f71b43",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-07-02T04:53:07Z",
    "title_canon_sha256": "af32f2a2a1029914e02dee61de325128e0bfa7f04d650bb20bca96c950310b0a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2007.01705",
    "kind": "arxiv",
    "version": 1
  }
}