{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:ZK6J3NZ374TDQBN2AY2IOZA5W5","short_pith_number":"pith:ZK6J3NZ3","canonical_record":{"source":{"id":"1907.01805","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-03T09:11:58Z","cross_cats_sorted":[],"title_canon_sha256":"676f7ef1758931d05220c73d117c8fac684b75bfd6723161dd41ec3050dab387","abstract_canon_sha256":"134c4e8c9101a900f2e8698706239779eb8ac9925ca06233c2b0f53278f49158"},"schema_version":"1.0"},"canonical_sha256":"cabc9db73bff263805ba063487641db74306dfb6d20f8450b76c81058d7cdaae","source":{"kind":"arxiv","id":"1907.01805","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.01805","created_at":"2026-05-17T23:41:34Z"},{"alias_kind":"arxiv_version","alias_value":"1907.01805v1","created_at":"2026-05-17T23:41:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.01805","created_at":"2026-05-17T23:41:34Z"},{"alias_kind":"pith_short_12","alias_value":"ZK6J3NZ374TD","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"ZK6J3NZ374TDQBN2","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"ZK6J3NZ3","created_at":"2026-05-18T12:33:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:ZK6J3NZ374TDQBN2AY2IOZA5W5","target":"record","payload":{"canonical_record":{"source":{"id":"1907.01805","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-03T09:11:58Z","cross_cats_sorted":[],"title_canon_sha256":"676f7ef1758931d05220c73d117c8fac684b75bfd6723161dd41ec3050dab387","abstract_canon_sha256":"134c4e8c9101a900f2e8698706239779eb8ac9925ca06233c2b0f53278f49158"},"schema_version":"1.0"},"canonical_sha256":"cabc9db73bff263805ba063487641db74306dfb6d20f8450b76c81058d7cdaae","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:41:34.985117Z","signature_b64":"vAOHOQ/AI8A6qPS5lJ509RJuG8xPH/s1xmQ9Yk8zQMjidIsEEKC8hlwGOTVLhZkf4ikAxXMZ+qoHxSX7WNG1AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cabc9db73bff263805ba063487641db74306dfb6d20f8450b76c81058d7cdaae","last_reissued_at":"2026-05-17T23:41:34.984516Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:41:34.984516Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1907.01805","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":"2026-05-17T23:41:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9EobaazT3lKj/kMlJXuQeq41cxK6MTL6VSxicoF1ka7j5XDYh4KK7eY1wvL+W5gj2V52J2SFRQ97Xf/OFBOaDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T10:58:39.321779Z"},"content_sha256":"aac653df5436b9ec3c31db4351b1fae0a511fe19bf6f98b7c46cfeb2c9095878","schema_version":"1.0","event_id":"sha256:aac653df5436b9ec3c31db4351b1fae0a511fe19bf6f98b7c46cfeb2c9095878"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:ZK6J3NZ374TDQBN2AY2IOZA5W5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sensitivity of Legged Balance Control to Uncertainties and Sampling Period","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Johannes Englsberger, Nahuel Villa, Pierre-Brice Wieber (BIPOP)","submitted_at":"2019-07-03T09:11:58Z","abstract_excerpt":"We propose to quantify the effect of sensor and actuator uncertainties on the control of the center of mass and center of pressure in legged robots, since this is central for maintaining their balance with a limited support polygon. Our approach is based on robust control theory, considering uncertainties that can take any value between specified bounds. This provides a principled approach to deciding optimal feedback gains. Surprisingly, our main observation is that the sampling period can be as long as 200 ms with literally no impact on maximum tracking error and, as a result, on the guarant"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.01805","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":""},"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":"2026-05-17T23:41:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"acApOLEYhn776dW/lCnMo0s8lq9QOfM2zRAxGCKZsmXQkkFcXfEek+tuSsyQZXBEfYMX94IE6XzV3P/G4mC8Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T10:58:39.322127Z"},"content_sha256":"ad10ffad237ac68f41a7c9d6215bd9e4e1819cfd8d2f8db9d84c9dc000444bef","schema_version":"1.0","event_id":"sha256:ad10ffad237ac68f41a7c9d6215bd9e4e1819cfd8d2f8db9d84c9dc000444bef"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZK6J3NZ374TDQBN2AY2IOZA5W5/bundle.json","state_url":"https://pith.science/pith/ZK6J3NZ374TDQBN2AY2IOZA5W5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZK6J3NZ374TDQBN2AY2IOZA5W5/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":"2026-05-30T10:58:39Z","links":{"resolver":"https://pith.science/pith/ZK6J3NZ374TDQBN2AY2IOZA5W5","bundle":"https://pith.science/pith/ZK6J3NZ374TDQBN2AY2IOZA5W5/bundle.json","state":"https://pith.science/pith/ZK6J3NZ374TDQBN2AY2IOZA5W5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZK6J3NZ374TDQBN2AY2IOZA5W5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:ZK6J3NZ374TDQBN2AY2IOZA5W5","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":"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}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.01805","created_at":"2026-05-17T23:41:34Z"},{"alias_kind":"arxiv_version","alias_value":"1907.01805v1","created_at":"2026-05-17T23:41:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.01805","created_at":"2026-05-17T23:41:34Z"},{"alias_kind":"pith_short_12","alias_value":"ZK6J3NZ374TD","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"ZK6J3NZ374TDQBN2","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"ZK6J3NZ3","created_at":"2026-05-18T12:33:33Z"}],"graph_snapshots":[{"event_id":"sha256:ad10ffad237ac68f41a7c9d6215bd9e4e1819cfd8d2f8db9d84c9dc000444bef","target":"graph","created_at":"2026-05-17T23:41:34Z","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 propose to quantify the effect of sensor and actuator uncertainties on the control of the center of mass and center of pressure in legged robots, since this is central for maintaining their balance with a limited support polygon. Our approach is based on robust control theory, considering uncertainties that can take any value between specified bounds. This provides a principled approach to deciding optimal feedback gains. Surprisingly, our main observation is that the sampling period can be as long as 200 ms with literally no impact on maximum tracking error and, as a result, on the guarant","authors_text":"Johannes Englsberger, Nahuel Villa, Pierre-Brice Wieber (BIPOP)","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-03T09:11:58Z","title":"Sensitivity of Legged Balance Control to Uncertainties and Sampling Period"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.01805","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:aac653df5436b9ec3c31db4351b1fae0a511fe19bf6f98b7c46cfeb2c9095878","target":"record","created_at":"2026-05-17T23:41:34Z","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":"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}},"canonical_sha256":"cabc9db73bff263805ba063487641db74306dfb6d20f8450b76c81058d7cdaae","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cabc9db73bff263805ba063487641db74306dfb6d20f8450b76c81058d7cdaae","first_computed_at":"2026-05-17T23:41:34.984516Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:41:34.984516Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vAOHOQ/AI8A6qPS5lJ509RJuG8xPH/s1xmQ9Yk8zQMjidIsEEKC8hlwGOTVLhZkf4ikAxXMZ+qoHxSX7WNG1AA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:41:34.985117Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.01805","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:aac653df5436b9ec3c31db4351b1fae0a511fe19bf6f98b7c46cfeb2c9095878","sha256:ad10ffad237ac68f41a7c9d6215bd9e4e1819cfd8d2f8db9d84c9dc000444bef"],"state_sha256":"3f21a23eaf4f653c095eefce5afd9e35b9e670c12c4eb405b7d5a35b30599e73"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jcZ21I8WWzmzulDn54MQf/NvrrytFreU7U3SgespU31aVKS/cvcRfVGm8/R8Kwhsveh8oDGOGwDbBFQAjhaHAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T10:58:39.324176Z","bundle_sha256":"c86db0b736d7d4a8cfb81f82386a0561ebc7f992bd1d99add95bfd8431b7d572"}}