Pith Number

pith:ZTLHF6CL

pith:2016:ZTLHF6CLNRNPDXQSHIKHCZDQ4I

not attested not anchored not stored refs pending

Push Recovery of a Humanoid Robot Based on Model Predictive Control and Capture Point

Aghil Yousefi-Koma, Majid Khadiv, Masoud Shariat-Panahi, Milad Shafiee-Ashtiani

arxiv:1612.08034 v1 · 2016-12-23 · 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{ZTLHF6CLNRNPDXQSHIKHCZDQ4I}

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	2026-05-18T00:54:05.065055Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ccd672f84b6c5af1de123a14716470e21675c5fc619bdcb8681f860df6392190

Aliases

arxiv: 1612.08034 · arxiv_version: 1612.08034v1 · doi: 10.48550/arxiv.1612.08034 · pith_short_12: ZTLHF6CLNRNP · pith_short_16: ZTLHF6CLNRNPDXQS · pith_short_8: ZTLHF6CL

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/ZTLHF6CLNRNPDXQSHIKHCZDQ4I \
  | 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: ccd672f84b6c5af1de123a14716470e21675c5fc619bdcb8681f860df6392190

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e4fba1a3b577111dbab32abb7d7750eae2ee655b919da3b0ba5896b51e6a7af3",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-12-23T16:57:25Z",
    "title_canon_sha256": "16a7747a4c7c704623a6c33d16dc72534cb2f3eb78a1f66395e3be351a996673"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1612.08034",
    "kind": "arxiv",
    "version": 1
  }
}