{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:GODZOMHGTISUH2VZ5U7ZMY5FM7","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":"a9fbf16477d94650a36853f312fd5124fcd2d03fbb954ba5bd9dcf02559b4c86","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-09T07:16:07Z","title_canon_sha256":"79219de054f6f18f7eea8929bc458a0cfe666d961c56ebec14e22b69cb787c22"},"schema_version":"1.0","source":{"id":"1906.03582","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.03582","created_at":"2026-05-17T23:43:48Z"},{"alias_kind":"arxiv_version","alias_value":"1906.03582v1","created_at":"2026-05-17T23:43:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.03582","created_at":"2026-05-17T23:43:48Z"},{"alias_kind":"pith_short_12","alias_value":"GODZOMHGTISU","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"GODZOMHGTISUH2VZ","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"GODZOMHG","created_at":"2026-05-18T12:33:18Z"}],"graph_snapshots":[{"event_id":"sha256:aeea3316f5a8f48a801c01b925532f4dfe69e21ec6c68206b436d8d2bb413b8f","target":"graph","created_at":"2026-05-17T23:43:48Z","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":"Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for macro motion with indirect actuation whereby the equilibrium pose is altered to achieve micro-scale motion. This paper presents a first attempt at explaining the micro-motion capabilities of these robots from a modeling perspective. This paper presents the macro and micro motion kinematics of a single segment continuum robot by using statics coupling effects am","authors_text":"Giuseppe Del Giudice, Long Wang, Nabil Simaan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-09T07:16:07Z","title":"Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.03582","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":"sha256:582eb396607f13a591efca9815d5c7c1655a9672990c0e42940aab8c58363820","target":"record","created_at":"2026-05-17T23:43:48Z","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":"a9fbf16477d94650a36853f312fd5124fcd2d03fbb954ba5bd9dcf02559b4c86","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-09T07:16:07Z","title_canon_sha256":"79219de054f6f18f7eea8929bc458a0cfe666d961c56ebec14e22b69cb787c22"},"schema_version":"1.0","source":{"id":"1906.03582","kind":"arxiv","version":1}},"canonical_sha256":"33879730e69a2543eab9ed3f9663a567d3ed085dcb0084df6af3784835827279","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"33879730e69a2543eab9ed3f9663a567d3ed085dcb0084df6af3784835827279","first_computed_at":"2026-05-17T23:43:48.040277Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:43:48.040277Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+1Ch/VqQsdcdR4yO4uLo/ImLehweSF4j7+NOlQXGcUdpEcJH9Oa4LjcN6n17I+Q32aUCHfAtid4mu66bd1O3Bg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:43:48.040954Z","signed_message":"canonical_sha256_bytes"},"source_id":"1906.03582","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:582eb396607f13a591efca9815d5c7c1655a9672990c0e42940aab8c58363820","sha256:aeea3316f5a8f48a801c01b925532f4dfe69e21ec6c68206b436d8d2bb413b8f"],"state_sha256":"47ac6fc2c787f5ea85aa2ec829e93c79afd98895a59e69e552a6264b582c2ee9"}