{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:ZFLEGQWW4B6WARDRC4IH4OZSNA","short_pith_number":"pith:ZFLEGQWW","canonical_record":{"source":{"id":"2406.13115","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T00:01:48Z","cross_cats_sorted":[],"title_canon_sha256":"f54fd0fc616709457b74432906d476b7274d843f3f5c5b3414df46de27849478","abstract_canon_sha256":"2fad60e4c6ac226b0678941a47de96435c7d4ee9f01ad07b48635641ad3320be"},"schema_version":"1.0"},"canonical_sha256":"c9564342d6e07d60447117107e3b32680c412e5aca5a3f8b521dca50d70de72f","source":{"kind":"arxiv","id":"2406.13115","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.13115","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"arxiv_version","alias_value":"2406.13115v1","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.13115","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"pith_short_12","alias_value":"ZFLEGQWW4B6W","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"pith_short_16","alias_value":"ZFLEGQWW4B6WARDR","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"pith_short_8","alias_value":"ZFLEGQWW","created_at":"2026-07-05T08:34:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:ZFLEGQWW4B6WARDRC4IH4OZSNA","target":"record","payload":{"canonical_record":{"source":{"id":"2406.13115","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T00:01:48Z","cross_cats_sorted":[],"title_canon_sha256":"f54fd0fc616709457b74432906d476b7274d843f3f5c5b3414df46de27849478","abstract_canon_sha256":"2fad60e4c6ac226b0678941a47de96435c7d4ee9f01ad07b48635641ad3320be"},"schema_version":"1.0"},"canonical_sha256":"c9564342d6e07d60447117107e3b32680c412e5aca5a3f8b521dca50d70de72f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:34:25.253534Z","signature_b64":"JslPwy8ZOKqDrviLNFFWyvGtAiPYmqEu3GM1OwKxbBX8NzuEOSiPfEM4j3QMJeI4TK1jAwsUaGn4T3vdRas8Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c9564342d6e07d60447117107e3b32680c412e5aca5a3f8b521dca50d70de72f","last_reissued_at":"2026-07-05T08:34:25.253119Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:34:25.253119Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.13115","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:34:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"i9iBdCjWnAOYkSGYPstKPUHI+vPkMvidF6L2tjcDoBQHkXrBk2P4yvBoQqTx8YG95NL3L+PaO/UIMy9l2yFCDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T06:25:58.947345Z"},"content_sha256":"038c01bcf2cfc7c0bd74eae5f164bd8868276c31c07fd586540e587b4b357541","schema_version":"1.0","event_id":"sha256:038c01bcf2cfc7c0bd74eae5f164bd8868276c31c07fd586540e587b4b357541"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:ZFLEGQWW4B6WARDRC4IH4OZSNA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aaron D. Ames, Adrian B. Ghansah, Jeeseop Kim, Kejun Li","submitted_at":"2024-06-19T00:01:48Z","abstract_excerpt":"Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this challenging problem, this paper develops a control framework for realizing dynamic locomotion and implements it on a novel point foot humanoid: ADAM. To this end, we close the loop between Hybrid Zero Dynamics (HZD) and Hybrid linear inverted pendulum (HLIP) based step length regulation. To leverage the full-order hybrid dynamics of the robot, walking gaits are fi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.13115","kind":"arxiv","version":1},"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/2406.13115/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:34:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+QMO2/LeVX7xaXaEUwWc1/b8BbRo+tkKnASf2uBRGoiLNLYXlSkia6XNGHrJeD6Gi6yEbjmbGtlMQjH+7oA6DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T06:25:58.947858Z"},"content_sha256":"c7ab1e75f865f49af294797fd5b9f8335b99635953342ceff762e84fc58c73ca","schema_version":"1.0","event_id":"sha256:c7ab1e75f865f49af294797fd5b9f8335b99635953342ceff762e84fc58c73ca"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZFLEGQWW4B6WARDRC4IH4OZSNA/bundle.json","state_url":"https://pith.science/pith/ZFLEGQWW4B6WARDRC4IH4OZSNA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZFLEGQWW4B6WARDRC4IH4OZSNA/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":"2026-08-08T06:25:58Z","links":{"resolver":"https://pith.science/pith/ZFLEGQWW4B6WARDRC4IH4OZSNA","bundle":"https://pith.science/pith/ZFLEGQWW4B6WARDRC4IH4OZSNA/bundle.json","state":"https://pith.science/pith/ZFLEGQWW4B6WARDRC4IH4OZSNA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZFLEGQWW4B6WARDRC4IH4OZSNA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:ZFLEGQWW4B6WARDRC4IH4OZSNA","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":"2fad60e4c6ac226b0678941a47de96435c7d4ee9f01ad07b48635641ad3320be","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T00:01:48Z","title_canon_sha256":"f54fd0fc616709457b74432906d476b7274d843f3f5c5b3414df46de27849478"},"schema_version":"1.0","source":{"id":"2406.13115","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.13115","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"arxiv_version","alias_value":"2406.13115v1","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.13115","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"pith_short_12","alias_value":"ZFLEGQWW4B6W","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"pith_short_16","alias_value":"ZFLEGQWW4B6WARDR","created_at":"2026-07-05T08:34:25Z"},{"alias_kind":"pith_short_8","alias_value":"ZFLEGQWW","created_at":"2026-07-05T08:34:25Z"}],"graph_snapshots":[{"event_id":"sha256:c7ab1e75f865f49af294797fd5b9f8335b99635953342ceff762e84fc58c73ca","target":"graph","created_at":"2026-07-05T08:34:25Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2406.13115/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this challenging problem, this paper develops a control framework for realizing dynamic locomotion and implements it on a novel point foot humanoid: ADAM. To this end, we close the loop between Hybrid Zero Dynamics (HZD) and Hybrid linear inverted pendulum (HLIP) based step length regulation. To leverage the full-order hybrid dynamics of the robot, walking gaits are fi","authors_text":"Aaron D. Ames, Adrian B. Ghansah, Jeeseop Kim, Kejun Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T00:01:48Z","title":"Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.13115","kind":"arxiv","version":1},"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":"sha256:038c01bcf2cfc7c0bd74eae5f164bd8868276c31c07fd586540e587b4b357541","target":"record","created_at":"2026-07-05T08:34:25Z","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":"2fad60e4c6ac226b0678941a47de96435c7d4ee9f01ad07b48635641ad3320be","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T00:01:48Z","title_canon_sha256":"f54fd0fc616709457b74432906d476b7274d843f3f5c5b3414df46de27849478"},"schema_version":"1.0","source":{"id":"2406.13115","kind":"arxiv","version":1}},"canonical_sha256":"c9564342d6e07d60447117107e3b32680c412e5aca5a3f8b521dca50d70de72f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c9564342d6e07d60447117107e3b32680c412e5aca5a3f8b521dca50d70de72f","first_computed_at":"2026-07-05T08:34:25.253119Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:34:25.253119Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JslPwy8ZOKqDrviLNFFWyvGtAiPYmqEu3GM1OwKxbBX8NzuEOSiPfEM4j3QMJeI4TK1jAwsUaGn4T3vdRas8Dw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:34:25.253534Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.13115","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:038c01bcf2cfc7c0bd74eae5f164bd8868276c31c07fd586540e587b4b357541","sha256:c7ab1e75f865f49af294797fd5b9f8335b99635953342ceff762e84fc58c73ca"],"state_sha256":"0b2469c619a039236e539e2b5012d70efbd6b5b0b4615b4390af3506b9ff1e5c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bDsVL3nAU1Mqf77fdF0OsU3XHl4LFIc75b5siU0BWuwDXRa+LpuTyesvhCdx6NIiFEx7KK6nR53jlfK7YLuLCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T06:25:58.952693Z","bundle_sha256":"bf948ad4110fc3fc115178d7df91978e7e1b896464207b35c88efc30717f921d"}}