{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:ZOAUDSCH74W5I2PHIXJKIDSH33","short_pith_number":"pith:ZOAUDSCH","schema_version":"1.0","canonical_sha256":"cb8141c847ff2dd469e745d2a40e47defad761870895722afcd4d45a840ef397","source":{"kind":"arxiv","id":"1803.03725","version":1},"attestation_state":"computed","paper":{"title":"Dynamically Efficient Kinematics for Hyper-Redundant Manipulators","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ioannis Rekleitis, Kostantinos J. Kyriakopoulos, Marios P. Xanthidis","submitted_at":"2018-03-10T00:10:37Z","abstract_excerpt":"A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for modeling those manipulators in a completely dynamic way. The proposed method enables online changes of the kinematic structure with the use of a special function; termed \"meta-controlling function\". This function can be used to develop policies to reduce drastically the computational cost for a single task, and to robustly control the robotic arm, even in t"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1803.03725","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-03-10T00:10:37Z","cross_cats_sorted":[],"title_canon_sha256":"fee1fe8334e3dbcd5a0fe7bc7c259c0e8685969acec20b9b7a2b9d5d11384659","abstract_canon_sha256":"9de8b6bffeaaa2f198fab7b5fdb2cc98387502df02ac3b7593a93791d91fed2f"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:21:38.347160Z","signature_b64":"S6DZIy2v58v/RqFOsLJQvXtIkEmFjc8hUGCstSQnzVXUA9Rn6vkpSV+Ggf6uHAJ2n0qEAl0RscqfU78/y8n1BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cb8141c847ff2dd469e745d2a40e47defad761870895722afcd4d45a840ef397","last_reissued_at":"2026-05-18T00:21:38.346530Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:21:38.346530Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Dynamically Efficient Kinematics for Hyper-Redundant Manipulators","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ioannis Rekleitis, Kostantinos J. Kyriakopoulos, Marios P. Xanthidis","submitted_at":"2018-03-10T00:10:37Z","abstract_excerpt":"A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for modeling those manipulators in a completely dynamic way. The proposed method enables online changes of the kinematic structure with the use of a special function; termed \"meta-controlling function\". This function can be used to develop policies to reduce drastically the computational cost for a single task, and to robustly control the robotic arm, even in t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.03725","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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1803.03725","created_at":"2026-05-18T00:21:38.346649+00:00"},{"alias_kind":"arxiv_version","alias_value":"1803.03725v1","created_at":"2026-05-18T00:21:38.346649+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.03725","created_at":"2026-05-18T00:21:38.346649+00:00"},{"alias_kind":"pith_short_12","alias_value":"ZOAUDSCH74W5","created_at":"2026-05-18T12:33:07.085635+00:00"},{"alias_kind":"pith_short_16","alias_value":"ZOAUDSCH74W5I2PH","created_at":"2026-05-18T12:33:07.085635+00:00"},{"alias_kind":"pith_short_8","alias_value":"ZOAUDSCH","created_at":"2026-05-18T12:33:07.085635+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/ZOAUDSCH74W5I2PHIXJKIDSH33","json":"https://pith.science/pith/ZOAUDSCH74W5I2PHIXJKIDSH33.json","graph_json":"https://pith.science/api/pith-number/ZOAUDSCH74W5I2PHIXJKIDSH33/graph.json","events_json":"https://pith.science/api/pith-number/ZOAUDSCH74W5I2PHIXJKIDSH33/events.json","paper":"https://pith.science/paper/ZOAUDSCH"},"agent_actions":{"view_html":"https://pith.science/pith/ZOAUDSCH74W5I2PHIXJKIDSH33","download_json":"https://pith.science/pith/ZOAUDSCH74W5I2PHIXJKIDSH33.json","view_paper":"https://pith.science/paper/ZOAUDSCH","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1803.03725&json=true","fetch_graph":"https://pith.science/api/pith-number/ZOAUDSCH74W5I2PHIXJKIDSH33/graph.json","fetch_events":"https://pith.science/api/pith-number/ZOAUDSCH74W5I2PHIXJKIDSH33/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ZOAUDSCH74W5I2PHIXJKIDSH33/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ZOAUDSCH74W5I2PHIXJKIDSH33/action/storage_attestation","attest_author":"https://pith.science/pith/ZOAUDSCH74W5I2PHIXJKIDSH33/action/author_attestation","sign_citation":"https://pith.science/pith/ZOAUDSCH74W5I2PHIXJKIDSH33/action/citation_signature","submit_replication":"https://pith.science/pith/ZOAUDSCH74W5I2PHIXJKIDSH33/action/replication_record"}},"created_at":"2026-05-18T00:21:38.346649+00:00","updated_at":"2026-05-18T00:21:38.346649+00:00"}