{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:AVU3YGNU5DGFMHLK25WZUN7GTI","short_pith_number":"pith:AVU3YGNU","schema_version":"1.0","canonical_sha256":"0569bc19b4e8cc561d6ad76d9a37e69a2033f7e603bbb394acc16b471d76a151","source":{"kind":"arxiv","id":"1806.00765","version":2},"attestation_state":"computed","paper":{"title":"Novel Compliant omnicrawler-wheel transforming module","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Akash Singh, Enna Sachdeva, Madhava Krishna, Sai Hanisha, Vinay Rodrigues","submitted_at":"2018-06-03T10:53:07Z","abstract_excerpt":"This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism. The transformation occurs without any additional actuators. Interestingly the robot can transform into a large diameter and small width wheel which enhances its maneuverability like small turning radius and fast/efficient locomotion. This paper contributes on improving the locomotion mode of previously developed hybrid compliant omnicrawler robot CObRaSO. In addition to legged and tracked mechanism, CObRaSO can now dis"},"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":"1806.00765","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-03T10:53:07Z","cross_cats_sorted":[],"title_canon_sha256":"4f29a42a67c3a42fe18899b6b187d9d8c4cfd5723bc02ef04edf7806340e70de","abstract_canon_sha256":"0cb2738bcf40ff10f7cbefd8408b5187f644ac41ff3ca1f4f1ef2c711223773d"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:11:04.645281Z","signature_b64":"Bqd2btbOjp3XZ3yUQUA/aEvCZ9DEiYXAZ2SPW4gNOOrBnQ8OQUY21EArpgKd3FBJ/4bN32ZYIJEonuN86U4CAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0569bc19b4e8cc561d6ad76d9a37e69a2033f7e603bbb394acc16b471d76a151","last_reissued_at":"2026-05-18T00:11:04.644465Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:11:04.644465Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Novel Compliant omnicrawler-wheel transforming module","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Akash Singh, Enna Sachdeva, Madhava Krishna, Sai Hanisha, Vinay Rodrigues","submitted_at":"2018-06-03T10:53:07Z","abstract_excerpt":"This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism. The transformation occurs without any additional actuators. Interestingly the robot can transform into a large diameter and small width wheel which enhances its maneuverability like small turning radius and fast/efficient locomotion. This paper contributes on improving the locomotion mode of previously developed hybrid compliant omnicrawler robot CObRaSO. In addition to legged and tracked mechanism, CObRaSO can now dis"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.00765","kind":"arxiv","version":2},"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":"1806.00765","created_at":"2026-05-18T00:11:04.644603+00:00"},{"alias_kind":"arxiv_version","alias_value":"1806.00765v2","created_at":"2026-05-18T00:11:04.644603+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.00765","created_at":"2026-05-18T00:11:04.644603+00:00"},{"alias_kind":"pith_short_12","alias_value":"AVU3YGNU5DGF","created_at":"2026-05-18T12:32:13.499390+00:00"},{"alias_kind":"pith_short_16","alias_value":"AVU3YGNU5DGFMHLK","created_at":"2026-05-18T12:32:13.499390+00:00"},{"alias_kind":"pith_short_8","alias_value":"AVU3YGNU","created_at":"2026-05-18T12:32:13.499390+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/AVU3YGNU5DGFMHLK25WZUN7GTI","json":"https://pith.science/pith/AVU3YGNU5DGFMHLK25WZUN7GTI.json","graph_json":"https://pith.science/api/pith-number/AVU3YGNU5DGFMHLK25WZUN7GTI/graph.json","events_json":"https://pith.science/api/pith-number/AVU3YGNU5DGFMHLK25WZUN7GTI/events.json","paper":"https://pith.science/paper/AVU3YGNU"},"agent_actions":{"view_html":"https://pith.science/pith/AVU3YGNU5DGFMHLK25WZUN7GTI","download_json":"https://pith.science/pith/AVU3YGNU5DGFMHLK25WZUN7GTI.json","view_paper":"https://pith.science/paper/AVU3YGNU","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1806.00765&json=true","fetch_graph":"https://pith.science/api/pith-number/AVU3YGNU5DGFMHLK25WZUN7GTI/graph.json","fetch_events":"https://pith.science/api/pith-number/AVU3YGNU5DGFMHLK25WZUN7GTI/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/AVU3YGNU5DGFMHLK25WZUN7GTI/action/timestamp_anchor","attest_storage":"https://pith.science/pith/AVU3YGNU5DGFMHLK25WZUN7GTI/action/storage_attestation","attest_author":"https://pith.science/pith/AVU3YGNU5DGFMHLK25WZUN7GTI/action/author_attestation","sign_citation":"https://pith.science/pith/AVU3YGNU5DGFMHLK25WZUN7GTI/action/citation_signature","submit_replication":"https://pith.science/pith/AVU3YGNU5DGFMHLK25WZUN7GTI/action/replication_record"}},"created_at":"2026-05-18T00:11:04.644603+00:00","updated_at":"2026-05-18T00:11:04.644603+00:00"}