{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:Z74CDMDFBHD7DPXHT6SHZIJT2T","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":"da44603d6ce4b4d22554f12dae1eadb4fed961f7c81ce4ba9b60791fab0cb9f7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-03-02T09:57:15Z","title_canon_sha256":"3d92c04b590af0f795de7ee21a7197ffafcb39b156b55a70a73d62b9b7a8eb24"},"schema_version":"1.0","source":{"id":"1703.00688","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1703.00688","created_at":"2026-05-18T00:39:36Z"},{"alias_kind":"arxiv_version","alias_value":"1703.00688v2","created_at":"2026-05-18T00:39:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1703.00688","created_at":"2026-05-18T00:39:36Z"},{"alias_kind":"pith_short_12","alias_value":"Z74CDMDFBHD7","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_16","alias_value":"Z74CDMDFBHD7DPXH","created_at":"2026-05-18T12:31:59Z"},{"alias_kind":"pith_short_8","alias_value":"Z74CDMDF","created_at":"2026-05-18T12:31:59Z"}],"graph_snapshots":[{"event_id":"sha256:bc7087df7c89bdd197d05daff1c990eb68b42ab9edc2d3b39f7044ba251365ec","target":"graph","created_at":"2026-05-18T00:39:36Z","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":"We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of generality, we consider a Floating-base Inverted Pendulum (FIP) model where the center of mass can translate freely and the zero-tilting moment point is allowed to leave the contact surface. This model is equivalent to a linear inverted pendulum with variable center-of-mass height, but its equations of motion remain linear. Our solution then follows three steps: (i) w","authors_text":"Abderrahmane Kheddar, St\\'ephane Caron","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-03-02T09:57:15Z","title":"Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.00688","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":"sha256:8f414e5923690adb4491fb05be6d9be7e37d8666776b79a87386fd3e32377bbe","target":"record","created_at":"2026-05-18T00:39:36Z","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":"da44603d6ce4b4d22554f12dae1eadb4fed961f7c81ce4ba9b60791fab0cb9f7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-03-02T09:57:15Z","title_canon_sha256":"3d92c04b590af0f795de7ee21a7197ffafcb39b156b55a70a73d62b9b7a8eb24"},"schema_version":"1.0","source":{"id":"1703.00688","kind":"arxiv","version":2}},"canonical_sha256":"cff821b06509c7f1bee79fa47ca133d4e7c418aac22c32725b62786c4d9f97d3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cff821b06509c7f1bee79fa47ca133d4e7c418aac22c32725b62786c4d9f97d3","first_computed_at":"2026-05-18T00:39:36.721303Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:39:36.721303Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7ydtAmI5r828DdVySldP6W1AKn6yCfCG4weBrDBND+40PhsKT6T4/HVUVw8nMPHhHowAv6Zl5i+IpJ6rlII7Cg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:39:36.721926Z","signed_message":"canonical_sha256_bytes"},"source_id":"1703.00688","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8f414e5923690adb4491fb05be6d9be7e37d8666776b79a87386fd3e32377bbe","sha256:bc7087df7c89bdd197d05daff1c990eb68b42ab9edc2d3b39f7044ba251365ec"],"state_sha256":"67a2cb72f1c8679ae003bad47d5f8bd41af0ff08f2f39741cdfc268dfefcd019"}