Pith Number

pith:4DOJHBQY

pith:2021:4DOJHBQYLR4VHWUJWTY6FZO2SH

not attested not anchored not stored refs pending

Unilateral Ground Contact Force Regulations in Thruster-Assisted Legged Locomotion

Alireza Ramezani, Eric Sihite, Pravin Dangol

arxiv:2105.12082 v1 · 2021-05-25 · 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{4DOJHBQYLR4VHWUJWTY6FZO2SH}

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	2026-07-05T02:42:59.865275Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e0dc9386185c7953da89b4f1e2e5da91ec75920a3b7ba9b19173954d8fd9a9d3

Aliases

arxiv: 2105.12082 · arxiv_version: 2105.12082v1 · doi: 10.48550/arxiv.2105.12082 · pith_short_12: 4DOJHBQYLR4V · pith_short_16: 4DOJHBQYLR4VHWUJ · pith_short_8: 4DOJHBQY

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/4DOJHBQYLR4VHWUJWTY6FZO2SH \
  | 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: e0dc9386185c7953da89b4f1e2e5da91ec75920a3b7ba9b19173954d8fd9a9d3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0bbbd8b4faffed906cb3e92a394b6e240dbb3d7ce7c344e477acdd1c47e364a7",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-05-25T17:04:32Z",
    "title_canon_sha256": "3fae7dfd44baf72dd24371a17f3f7138573b365afbd622eca058f8ffdcc67572"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2105.12082",
    "kind": "arxiv",
    "version": 1
  }
}