Pith Number

pith:ZK6J3NZ3

pith:2019:ZK6J3NZ374TDQBN2AY2IOZA5W5

not attested not anchored not stored refs pending

Sensitivity of Legged Balance Control to Uncertainties and Sampling Period

Johannes Englsberger, Nahuel Villa, Pierre-Brice Wieber (BIPOP)

arxiv:1907.01805 v1 · 2019-07-03 · 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{ZK6J3NZ374TDQBN2AY2IOZA5W5}

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.

Receipt and verification

First computed	2026-05-17T23:41:34.984516Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cabc9db73bff263805ba063487641db74306dfb6d20f8450b76c81058d7cdaae

Aliases

arxiv: 1907.01805 · arxiv_version: 1907.01805v1 · doi: 10.48550/arxiv.1907.01805 · pith_short_12: ZK6J3NZ374TD · pith_short_16: ZK6J3NZ374TDQBN2 · pith_short_8: ZK6J3NZ3

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/ZK6J3NZ374TDQBN2AY2IOZA5W5 \
  | 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: cabc9db73bff263805ba063487641db74306dfb6d20f8450b76c81058d7cdaae

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "134c4e8c9101a900f2e8698706239779eb8ac9925ca06233c2b0f53278f49158",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-07-03T09:11:58Z",
    "title_canon_sha256": "676f7ef1758931d05220c73d117c8fac684b75bfd6723161dd41ec3050dab387"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1907.01805",
    "kind": "arxiv",
    "version": 1
  }
}