Pith Number

pith:YQRZFVM7

pith:2019:YQRZFVM7YZHUT6K3GW3IEBSPK4

not attested not anchored not stored refs pending

Kinematics of Spherical Robots Rolling Over 3D Terrains

Hassan Zargarzadeh, Saeed Moazami, Srinivas Palanki

arxiv:1906.05228 v3 · 2019-06-12 · 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{YQRZFVM7YZHUT6K3GW3IEBSPK4}

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.

Cited by

1 paper in Pith

Design, Modeling, and Control of Norma: a Slider & Pendulum-Driven Spherical Robot

Receipt and verification

First computed	2026-07-05T00:55:57.692080Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c42392d59fc64f49f95b35b682064f5728c9995b47f338b0389a0198b6036b45

Aliases

arxiv: 1906.05228 · arxiv_version: 1906.05228v3 · doi: 10.48550/arxiv.1906.05228 · pith_short_12: YQRZFVM7YZHU · pith_short_16: YQRZFVM7YZHUT6K3 · pith_short_8: YQRZFVM7

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/YQRZFVM7YZHUT6K3GW3IEBSPK4 \
  | 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: c42392d59fc64f49f95b35b682064f5728c9995b47f338b0389a0198b6036b45

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "46f3875cabe61e0ee0a0414e008632b9186ab24a84110d520639d1adc0bcbadc",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-06-12T16:03:22Z",
    "title_canon_sha256": "cee38c4f024771d76982f0434138193ad9f183667c71a760bd8d98e96fda39c2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1906.05228",
    "kind": "arxiv",
    "version": 3
  }
}