{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:Z36TUNNP3V4RVUFNEFRBZ6JVB3","short_pith_number":"pith:Z36TUNNP","canonical_record":{"source":{"id":"1712.05873","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-15T23:04:31Z","cross_cats_sorted":[],"title_canon_sha256":"4f57ab4cfb53fe31b751fcaa579d4b8e64094b157454a6c1b19dc659c822551a","abstract_canon_sha256":"44a551a1b4a85210f8892020f81b12cdf91bff858c717eb60f3e87e0c2a15112"},"schema_version":"1.0"},"canonical_sha256":"cefd3a35afdd791ad0ad21621cf9350efff3ef2d7b728ebcb367e9568d210d78","source":{"kind":"arxiv","id":"1712.05873","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1712.05873","created_at":"2026-05-18T00:22:39Z"},{"alias_kind":"arxiv_version","alias_value":"1712.05873v2","created_at":"2026-05-18T00:22:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1712.05873","created_at":"2026-05-18T00:22:39Z"},{"alias_kind":"pith_short_12","alias_value":"Z36TUNNP3V4R","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_16","alias_value":"Z36TUNNP3V4RVUFN","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_8","alias_value":"Z36TUNNP","created_at":"2026-05-18T12:31:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:Z36TUNNP3V4RVUFNEFRBZ6JVB3","target":"record","payload":{"canonical_record":{"source":{"id":"1712.05873","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-15T23:04:31Z","cross_cats_sorted":[],"title_canon_sha256":"4f57ab4cfb53fe31b751fcaa579d4b8e64094b157454a6c1b19dc659c822551a","abstract_canon_sha256":"44a551a1b4a85210f8892020f81b12cdf91bff858c717eb60f3e87e0c2a15112"},"schema_version":"1.0"},"canonical_sha256":"cefd3a35afdd791ad0ad21621cf9350efff3ef2d7b728ebcb367e9568d210d78","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:22:39.059435Z","signature_b64":"i6OWWKAMLzEd8g+Wf34UgRuXDRO6wN/1LT738nGRCiHJJS2w0+HSDMMIOlgRcgWvvyEZ8nVTbTu/vdufJ+TnDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cefd3a35afdd791ad0ad21621cf9350efff3ef2d7b728ebcb367e9568d210d78","last_reissued_at":"2026-05-18T00:22:39.058952Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:22:39.058952Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1712.05873","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:22:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"06LB7gui+ha5akb4b/lyStU2ljTYB8YN/emrEq+Bia5YSdrAwsX0+H+di4H85DAzvpKKV+FiLA2HMCF+CSKCCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T18:12:46.708857Z"},"content_sha256":"4de8edf933a02e4d242042013d5f2bb60f9ca2683deeff7cbba46dcbecdb72dd","schema_version":"1.0","event_id":"sha256:4de8edf933a02e4d242042013d5f2bb60f9ca2683deeff7cbba46dcbecdb72dd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:Z36TUNNP3V4RVUFNEFRBZ6JVB3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jeffrey M. Walls, Jessy W. Grizzle, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Ross Hartley, Ryan M. Eustice","submitted_at":"2017-12-15T23:04:31Z","abstract_excerpt":"State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many of these methods rely significantly on vision and often fail when visual tracking is lost due to lighting or scarcity of features. This paper presents a state-estimation technique for legged robots that takes into account the robot's kinematic model as well as its contact with the environment. We introduce forward kinematic factors and preintegrated contact"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1712.05873","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":""},"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":"2026-05-18T00:22:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2FUZvV5Xe2j71bZHRJ5AFjHFK5GAPbyFYIjxVTuQ1bPtO0R+xy4uWicMyWOwRHur/Gy+qo12Ui+gZEiawzIOBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T18:12:46.709270Z"},"content_sha256":"9dbc7cb29f0db4b5e5089fa46c1b77503f86c276ecdee0475accb19339984489","schema_version":"1.0","event_id":"sha256:9dbc7cb29f0db4b5e5089fa46c1b77503f86c276ecdee0475accb19339984489"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Z36TUNNP3V4RVUFNEFRBZ6JVB3/bundle.json","state_url":"https://pith.science/pith/Z36TUNNP3V4RVUFNEFRBZ6JVB3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Z36TUNNP3V4RVUFNEFRBZ6JVB3/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":"2026-06-06T18:12:46Z","links":{"resolver":"https://pith.science/pith/Z36TUNNP3V4RVUFNEFRBZ6JVB3","bundle":"https://pith.science/pith/Z36TUNNP3V4RVUFNEFRBZ6JVB3/bundle.json","state":"https://pith.science/pith/Z36TUNNP3V4RVUFNEFRBZ6JVB3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Z36TUNNP3V4RVUFNEFRBZ6JVB3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:Z36TUNNP3V4RVUFNEFRBZ6JVB3","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":"44a551a1b4a85210f8892020f81b12cdf91bff858c717eb60f3e87e0c2a15112","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-15T23:04:31Z","title_canon_sha256":"4f57ab4cfb53fe31b751fcaa579d4b8e64094b157454a6c1b19dc659c822551a"},"schema_version":"1.0","source":{"id":"1712.05873","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1712.05873","created_at":"2026-05-18T00:22:39Z"},{"alias_kind":"arxiv_version","alias_value":"1712.05873v2","created_at":"2026-05-18T00:22:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1712.05873","created_at":"2026-05-18T00:22:39Z"},{"alias_kind":"pith_short_12","alias_value":"Z36TUNNP3V4R","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_16","alias_value":"Z36TUNNP3V4RVUFN","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_8","alias_value":"Z36TUNNP","created_at":"2026-05-18T12:31:59Z"}],"graph_snapshots":[{"event_id":"sha256:9dbc7cb29f0db4b5e5089fa46c1b77503f86c276ecdee0475accb19339984489","target":"graph","created_at":"2026-05-18T00:22:39Z","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"},"paper":{"abstract_excerpt":"State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many of these methods rely significantly on vision and often fail when visual tracking is lost due to lighting or scarcity of features. This paper presents a state-estimation technique for legged robots that takes into account the robot's kinematic model as well as its contact with the environment. We introduce forward kinematic factors and preintegrated contact","authors_text":"Jeffrey M. Walls, Jessy W. Grizzle, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Ross Hartley, Ryan M. Eustice","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-15T23:04:31Z","title":"Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1712.05873","kind":"arxiv","version":2},"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":"sha256:4de8edf933a02e4d242042013d5f2bb60f9ca2683deeff7cbba46dcbecdb72dd","target":"record","created_at":"2026-05-18T00:22:39Z","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":"44a551a1b4a85210f8892020f81b12cdf91bff858c717eb60f3e87e0c2a15112","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-15T23:04:31Z","title_canon_sha256":"4f57ab4cfb53fe31b751fcaa579d4b8e64094b157454a6c1b19dc659c822551a"},"schema_version":"1.0","source":{"id":"1712.05873","kind":"arxiv","version":2}},"canonical_sha256":"cefd3a35afdd791ad0ad21621cf9350efff3ef2d7b728ebcb367e9568d210d78","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cefd3a35afdd791ad0ad21621cf9350efff3ef2d7b728ebcb367e9568d210d78","first_computed_at":"2026-05-18T00:22:39.058952Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:22:39.058952Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"i6OWWKAMLzEd8g+Wf34UgRuXDRO6wN/1LT738nGRCiHJJS2w0+HSDMMIOlgRcgWvvyEZ8nVTbTu/vdufJ+TnDA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:22:39.059435Z","signed_message":"canonical_sha256_bytes"},"source_id":"1712.05873","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4de8edf933a02e4d242042013d5f2bb60f9ca2683deeff7cbba46dcbecdb72dd","sha256:9dbc7cb29f0db4b5e5089fa46c1b77503f86c276ecdee0475accb19339984489"],"state_sha256":"c15f7e569090cba502722882aaf125330d910c94be4870206f27f521262fa7f7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6Xht4Ox6r6pnWiAB4TvAbKB2OW2D1gurtavpwhpyA7xS//mDg/QyCk4VAw/6hZRN3qwHTtAUEOHRjRjUW/NoBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T18:12:46.711600Z","bundle_sha256":"a33d197989151d7a7fefd32613e8ee6f4d6228b7446f63b5497cbaa5fba2d99f"}}