Pith Number

pith:P7YX24VM

pith:2026:P7YX24VMY5NP6IT75JAMM7B23U

not attested not anchored not stored refs pending

ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots

Claudio Semini, Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol

arxiv:2606.18883 v1 · 2026-06-17 · 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{P7YX24VMY5NP6IT75JAMM7B23U}

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	2026-06-19T16:11:50.855217Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7ff17d72acc75aff227fea40c67c3add139bc9831a037da74511e7214e21b46c

Aliases

arxiv: 2606.18883 · arxiv_version: 2606.18883v1 · doi: 10.48550/arxiv.2606.18883 · pith_short_12: P7YX24VMY5NP · pith_short_16: P7YX24VMY5NP6IT7 · pith_short_8: P7YX24VM

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/P7YX24VMY5NP6IT75JAMM7B23U \
  | 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: 7ff17d72acc75aff227fea40c67c3add139bc9831a037da74511e7214e21b46c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c5ecb9382829f983e0969b415bf4f743a5b20a9830b9f1a8e99ecdb8aec27f14",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-17T10:00:19Z",
    "title_canon_sha256": "d8594e7b1f288e5525e58d71e4c83c9ff5843778bdfe9d7b4f23cb554669ea09"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.18883",
    "kind": "arxiv",
    "version": 1
  }
}