{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:YSFY36QVLRJIID46L5CJY56FH2","short_pith_number":"pith:YSFY36QV","schema_version":"1.0","canonical_sha256":"c48b8dfa155c52840f9e5f449c77c53e92e3622e8290ab816b1181b7394a9462","source":{"kind":"arxiv","id":"2103.09450","version":2},"attestation_state":"computed","paper":{"title":"Mechanical principles of dynamic terrestrial self-righting using wings","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY","eess.SY","q-bio.QM"],"primary_cat":"physics.bio-ph","authors_text":"Chad C. Kessens, Chen Li, Robert J. Full, Ronald S. Fearing","submitted_at":"2021-03-17T05:28:31Z","abstract_excerpt":"Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects. Inspired by the winged discoid cockroach, we designed a new robot that opens its wings to self-right by pushing against the ground. We used this robot to systematically test how self-righting performance depends on wing opening magnitude, speed, and asymmetry, and modeled how kinematic and energetic requirements depend on wing shape and body/wing mass distribut"},"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":"2103.09450","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"physics.bio-ph","submitted_at":"2021-03-17T05:28:31Z","cross_cats_sorted":["cs.RO","cs.SY","eess.SY","q-bio.QM"],"title_canon_sha256":"f77d66b0f18c8338f87e269fb27268c0ba0e63c3fcadae844f12e938d8e58a8e","abstract_canon_sha256":"0b767a40dab8e3964df43c10f9fac1d895fa0dc96d6fd9ce3777f8540fa6c907"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:41:24.448861Z","signature_b64":"4RHV0ygSAVbtfahYexo3cTjTaZSe+yza+SgsCvvYcMQNjl/J/0TZN93Q4MS8eaxQ0srOfD81WWzdLvCHbZBFBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c48b8dfa155c52840f9e5f449c77c53e92e3622e8290ab816b1181b7394a9462","last_reissued_at":"2026-07-05T03:41:24.448522Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:41:24.448522Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Mechanical principles of dynamic terrestrial self-righting using wings","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY","eess.SY","q-bio.QM"],"primary_cat":"physics.bio-ph","authors_text":"Chad C. Kessens, Chen Li, Robert J. Full, Ronald S. Fearing","submitted_at":"2021-03-17T05:28:31Z","abstract_excerpt":"Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects. Inspired by the winged discoid cockroach, we designed a new robot that opens its wings to self-right by pushing against the ground. We used this robot to systematically test how self-righting performance depends on wing opening magnitude, speed, and asymmetry, and modeled how kinematic and energetic requirements depend on wing shape and body/wing mass distribut"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.09450","kind":"arxiv","version":2},"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/2103.09450/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":"2103.09450","created_at":"2026-07-05T03:41:24.448576+00:00"},{"alias_kind":"arxiv_version","alias_value":"2103.09450v2","created_at":"2026-07-05T03:41:24.448576+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.09450","created_at":"2026-07-05T03:41:24.448576+00:00"},{"alias_kind":"pith_short_12","alias_value":"YSFY36QVLRJI","created_at":"2026-07-05T03:41:24.448576+00:00"},{"alias_kind":"pith_short_16","alias_value":"YSFY36QVLRJIID46","created_at":"2026-07-05T03:41:24.448576+00:00"},{"alias_kind":"pith_short_8","alias_value":"YSFY36QV","created_at":"2026-07-05T03:41:24.448576+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/YSFY36QVLRJIID46L5CJY56FH2","json":"https://pith.science/pith/YSFY36QVLRJIID46L5CJY56FH2.json","graph_json":"https://pith.science/api/pith-number/YSFY36QVLRJIID46L5CJY56FH2/graph.json","events_json":"https://pith.science/api/pith-number/YSFY36QVLRJIID46L5CJY56FH2/events.json","paper":"https://pith.science/paper/YSFY36QV"},"agent_actions":{"view_html":"https://pith.science/pith/YSFY36QVLRJIID46L5CJY56FH2","download_json":"https://pith.science/pith/YSFY36QVLRJIID46L5CJY56FH2.json","view_paper":"https://pith.science/paper/YSFY36QV","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2103.09450&json=true","fetch_graph":"https://pith.science/api/pith-number/YSFY36QVLRJIID46L5CJY56FH2/graph.json","fetch_events":"https://pith.science/api/pith-number/YSFY36QVLRJIID46L5CJY56FH2/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/YSFY36QVLRJIID46L5CJY56FH2/action/timestamp_anchor","attest_storage":"https://pith.science/pith/YSFY36QVLRJIID46L5CJY56FH2/action/storage_attestation","attest_author":"https://pith.science/pith/YSFY36QVLRJIID46L5CJY56FH2/action/author_attestation","sign_citation":"https://pith.science/pith/YSFY36QVLRJIID46L5CJY56FH2/action/citation_signature","submit_replication":"https://pith.science/pith/YSFY36QVLRJIID46L5CJY56FH2/action/replication_record"}},"created_at":"2026-07-05T03:41:24.448576+00:00","updated_at":"2026-07-05T03:41:24.448576+00:00"}