{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:BA4ZSVM6TMQ65XIFCV4YKTUDIS","short_pith_number":"pith:BA4ZSVM6","canonical_record":{"source":{"id":"1605.03039","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-05-10T14:55:12Z","cross_cats_sorted":[],"title_canon_sha256":"51aa468398277dcac3777fdc269aa7e676c3f979904febace0f44c804cf14e9c","abstract_canon_sha256":"43eee8618e7a7087d0eb4d9853c240313443b5bc80d9eb48ec3f6f688a6382b9"},"schema_version":"1.0"},"canonical_sha256":"083999559e9b21eedd051579854e834499780aa2671d4241b7d4aafecda18b96","source":{"kind":"arxiv","id":"1605.03039","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1605.03039","created_at":"2026-05-18T01:15:07Z"},{"alias_kind":"arxiv_version","alias_value":"1605.03039v1","created_at":"2026-05-18T01:15:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1605.03039","created_at":"2026-05-18T01:15:07Z"},{"alias_kind":"pith_short_12","alias_value":"BA4ZSVM6TMQ6","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"BA4ZSVM6TMQ65XIF","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"BA4ZSVM6","created_at":"2026-05-18T12:30:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:BA4ZSVM6TMQ65XIFCV4YKTUDIS","target":"record","payload":{"canonical_record":{"source":{"id":"1605.03039","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-05-10T14:55:12Z","cross_cats_sorted":[],"title_canon_sha256":"51aa468398277dcac3777fdc269aa7e676c3f979904febace0f44c804cf14e9c","abstract_canon_sha256":"43eee8618e7a7087d0eb4d9853c240313443b5bc80d9eb48ec3f6f688a6382b9"},"schema_version":"1.0"},"canonical_sha256":"083999559e9b21eedd051579854e834499780aa2671d4241b7d4aafecda18b96","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:15:07.778405Z","signature_b64":"MnaoJGoxiExRl6MDuol4U30lk/o1v5wiGKkV5QikDCJr7brgblNK2lBenUveJTVz7j6I4nQyjVVkkeaqkS7aBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"083999559e9b21eedd051579854e834499780aa2671d4241b7d4aafecda18b96","last_reissued_at":"2026-05-18T01:15:07.777519Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:15:07.777519Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1605.03039","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":"2026-05-18T01:15:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HWwfVR/AOzAT70LVOTcrALnwCFpRLDy8GMWK95vKtjZBN23A+vbhGAj78dfwAn+AgOyaf1AkPbon49ZIXmlWAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T16:13:38.974786Z"},"content_sha256":"a4558fd99656470aa30dc56696045c0cafe0eca8da4c96d1c301e8d9d49918e7","schema_version":"1.0","event_id":"sha256:a4558fd99656470aa30dc56696045c0cafe0eca8da4c96d1c301e8d9d49918e7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:BA4ZSVM6TMQ65XIFCV4YKTUDIS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A new time-projecting controller based on 3LP model to recover intermittent pushes","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Auke J. Ijspeert, Salman Faraji","submitted_at":"2016-05-10T14:55:12Z","abstract_excerpt":"In this paper, we present a new walking controller based on 3LP model. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller can project the state of the robot at any time during the phase back to a certain event for which, a discrete LQR controller is designed. After the projection, a proper control policy is generated by the expert discrete controller and used online. This projecting architecture reacts to disturbances with minimal delay and compared to discrete controllers, it provides superior performance in recovering intermittent external pushes. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1605.03039","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":"2026-05-18T01:15:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pBTk46NLktYw/yfaQ73cHA0dOtLrjKT4272yVAyLwXC1Jyaf0KqDel1iOJOBPhDElgjbWvhp5BL+LL2825PWDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T16:13:38.975124Z"},"content_sha256":"dd4592afef33130a595f230ccf8a634ad9f2ef12c6f70486533871d82bed75f8","schema_version":"1.0","event_id":"sha256:dd4592afef33130a595f230ccf8a634ad9f2ef12c6f70486533871d82bed75f8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BA4ZSVM6TMQ65XIFCV4YKTUDIS/bundle.json","state_url":"https://pith.science/pith/BA4ZSVM6TMQ65XIFCV4YKTUDIS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BA4ZSVM6TMQ65XIFCV4YKTUDIS/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":"2026-06-27T16:13:38Z","links":{"resolver":"https://pith.science/pith/BA4ZSVM6TMQ65XIFCV4YKTUDIS","bundle":"https://pith.science/pith/BA4ZSVM6TMQ65XIFCV4YKTUDIS/bundle.json","state":"https://pith.science/pith/BA4ZSVM6TMQ65XIFCV4YKTUDIS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BA4ZSVM6TMQ65XIFCV4YKTUDIS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:BA4ZSVM6TMQ65XIFCV4YKTUDIS","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":"43eee8618e7a7087d0eb4d9853c240313443b5bc80d9eb48ec3f6f688a6382b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-05-10T14:55:12Z","title_canon_sha256":"51aa468398277dcac3777fdc269aa7e676c3f979904febace0f44c804cf14e9c"},"schema_version":"1.0","source":{"id":"1605.03039","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1605.03039","created_at":"2026-05-18T01:15:07Z"},{"alias_kind":"arxiv_version","alias_value":"1605.03039v1","created_at":"2026-05-18T01:15:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1605.03039","created_at":"2026-05-18T01:15:07Z"},{"alias_kind":"pith_short_12","alias_value":"BA4ZSVM6TMQ6","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"BA4ZSVM6TMQ65XIF","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"BA4ZSVM6","created_at":"2026-05-18T12:30:07Z"}],"graph_snapshots":[{"event_id":"sha256:dd4592afef33130a595f230ccf8a634ad9f2ef12c6f70486533871d82bed75f8","target":"graph","created_at":"2026-05-18T01:15:07Z","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":"In this paper, we present a new walking controller based on 3LP model. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller can project the state of the robot at any time during the phase back to a certain event for which, a discrete LQR controller is designed. After the projection, a proper control policy is generated by the expert discrete controller and used online. This projecting architecture reacts to disturbances with minimal delay and compared to discrete controllers, it provides superior performance in recovering intermittent external pushes. ","authors_text":"Auke J. Ijspeert, Salman Faraji","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-05-10T14:55:12Z","title":"A new time-projecting controller based on 3LP model to recover intermittent pushes"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1605.03039","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:a4558fd99656470aa30dc56696045c0cafe0eca8da4c96d1c301e8d9d49918e7","target":"record","created_at":"2026-05-18T01:15:07Z","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":"43eee8618e7a7087d0eb4d9853c240313443b5bc80d9eb48ec3f6f688a6382b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-05-10T14:55:12Z","title_canon_sha256":"51aa468398277dcac3777fdc269aa7e676c3f979904febace0f44c804cf14e9c"},"schema_version":"1.0","source":{"id":"1605.03039","kind":"arxiv","version":1}},"canonical_sha256":"083999559e9b21eedd051579854e834499780aa2671d4241b7d4aafecda18b96","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"083999559e9b21eedd051579854e834499780aa2671d4241b7d4aafecda18b96","first_computed_at":"2026-05-18T01:15:07.777519Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:15:07.777519Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MnaoJGoxiExRl6MDuol4U30lk/o1v5wiGKkV5QikDCJr7brgblNK2lBenUveJTVz7j6I4nQyjVVkkeaqkS7aBw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:15:07.778405Z","signed_message":"canonical_sha256_bytes"},"source_id":"1605.03039","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a4558fd99656470aa30dc56696045c0cafe0eca8da4c96d1c301e8d9d49918e7","sha256:dd4592afef33130a595f230ccf8a634ad9f2ef12c6f70486533871d82bed75f8"],"state_sha256":"8aec94611eb53756aea4bd5c81546445966dffd6672a359238a56d910f5ab174"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2/A8QjVhNiXOxZ/X95SloqF6FdnMkTdHWJ3RJY+zIRU26cOknwsxvokVB4EoAW4mZydnPkA+h/qUz7z/Nsz3Ag==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T16:13:38.976999Z","bundle_sha256":"d544b63dc0ae52e33f5ddd99cf5672c08484d5f1bf77dc0fef53777ecb73ed96"}}