{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:Q2Y2W7M5A67W2HYUVVU5WMU65I","short_pith_number":"pith:Q2Y2W7M5","canonical_record":{"source":{"id":"2310.09824","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T13:12:50Z","cross_cats_sorted":[],"title_canon_sha256":"68c6bed0c3f870952a8711f7f577252f9eea73701c6af5237790604c5393046a","abstract_canon_sha256":"7ee36ad9e42f84a8036624e53978c0b1cc5c0a5e31c105e6f15f7b2d52e59d97"},"schema_version":"1.0"},"canonical_sha256":"86b1ab7d9d07bf6d1f14ad69db329eea0b831a0ca266312f180c20f3f53a8a63","source":{"kind":"arxiv","id":"2310.09824","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.09824","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"arxiv_version","alias_value":"2310.09824v3","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.09824","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"pith_short_12","alias_value":"Q2Y2W7M5A67W","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"pith_short_16","alias_value":"Q2Y2W7M5A67W2HYU","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"pith_short_8","alias_value":"Q2Y2W7M5","created_at":"2026-07-05T08:50:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:Q2Y2W7M5A67W2HYUVVU5WMU65I","target":"record","payload":{"canonical_record":{"source":{"id":"2310.09824","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T13:12:50Z","cross_cats_sorted":[],"title_canon_sha256":"68c6bed0c3f870952a8711f7f577252f9eea73701c6af5237790604c5393046a","abstract_canon_sha256":"7ee36ad9e42f84a8036624e53978c0b1cc5c0a5e31c105e6f15f7b2d52e59d97"},"schema_version":"1.0"},"canonical_sha256":"86b1ab7d9d07bf6d1f14ad69db329eea0b831a0ca266312f180c20f3f53a8a63","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:50:08.025596Z","signature_b64":"CaRYGpnWhhl2oEUJVU5KnzDrbelSvMUiGx+Bpc5ZOilsjHTEaOIQtlkmcM4t0+nAAOOXo9nx+mwHXoVYIMz2AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"86b1ab7d9d07bf6d1f14ad69db329eea0b831a0ca266312f180c20f3f53a8a63","last_reissued_at":"2026-07-05T08:50:08.025188Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:50:08.025188Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.09824","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:50:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8LHChP8LwSyKjEa9HIcDoHjERq6G2V/jJjuTiViM5gJrNuUNVHmKJzFAbX6HYgMaFjTa8TYcMaLS7b5kg6GeBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T15:57:14.444382Z"},"content_sha256":"7376fd29f7e5b01a88a6f1879c616201518bcb99a1dec022e01a8b33fdb1ee1c","schema_version":"1.0","event_id":"sha256:7376fd29f7e5b01a88a6f1879c616201518bcb99a1dec022e01a8b33fdb1ee1c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:Q2Y2W7M5A67W2HYUVVU5WMU65I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Overconstrained Locomotion","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bangchao Huang, Chaoyang Song, Fang Wan, Guangyi Huang, Guojing Huang, Haoran Sun, Hua Chen, Jia Pan, Jiayi Yin, Nuofan Qiu, Ronghan Xu, Shihao Feng, Wei Zhang, Zishang Zhang","submitted_at":"2023-10-15T13:12:50Z","abstract_excerpt":"This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capable of parametric reconfiguration between a reptile- and mammal-inspired morphology within a single quadruped. In contrast to the prevailing focus on planar linkages, this research delves into adopting overconstrained linkages as the limb mechanism. The overconstrained linkages have solid theoretical foundations in advanced kinematics but are under-explored in robotic applications. This study showcases the morphologica"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.09824","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2310.09824/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T08:50:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jDyaBzJrzZKapsw4bAG1N6GkiWaAWMpl9Jo7c6Vvj8fsmd33NlKAn1qyJzJytq40oi1Fox3Qik6cQMOHzPjtDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T15:57:14.444966Z"},"content_sha256":"f73be894e09ad2638c50bb34c1b20033c870cbf7dde28a1108fa2f6a40ca7f0a","schema_version":"1.0","event_id":"sha256:f73be894e09ad2638c50bb34c1b20033c870cbf7dde28a1108fa2f6a40ca7f0a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Q2Y2W7M5A67W2HYUVVU5WMU65I/bundle.json","state_url":"https://pith.science/pith/Q2Y2W7M5A67W2HYUVVU5WMU65I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Q2Y2W7M5A67W2HYUVVU5WMU65I/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":"2026-08-21T15:57:14Z","links":{"resolver":"https://pith.science/pith/Q2Y2W7M5A67W2HYUVVU5WMU65I","bundle":"https://pith.science/pith/Q2Y2W7M5A67W2HYUVVU5WMU65I/bundle.json","state":"https://pith.science/pith/Q2Y2W7M5A67W2HYUVVU5WMU65I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Q2Y2W7M5A67W2HYUVVU5WMU65I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:Q2Y2W7M5A67W2HYUVVU5WMU65I","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":"7ee36ad9e42f84a8036624e53978c0b1cc5c0a5e31c105e6f15f7b2d52e59d97","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T13:12:50Z","title_canon_sha256":"68c6bed0c3f870952a8711f7f577252f9eea73701c6af5237790604c5393046a"},"schema_version":"1.0","source":{"id":"2310.09824","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.09824","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"arxiv_version","alias_value":"2310.09824v3","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.09824","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"pith_short_12","alias_value":"Q2Y2W7M5A67W","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"pith_short_16","alias_value":"Q2Y2W7M5A67W2HYU","created_at":"2026-07-05T08:50:08Z"},{"alias_kind":"pith_short_8","alias_value":"Q2Y2W7M5","created_at":"2026-07-05T08:50:08Z"}],"graph_snapshots":[{"event_id":"sha256:f73be894e09ad2638c50bb34c1b20033c870cbf7dde28a1108fa2f6a40ca7f0a","target":"graph","created_at":"2026-07-05T08:50:08Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2310.09824/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capable of parametric reconfiguration between a reptile- and mammal-inspired morphology within a single quadruped. In contrast to the prevailing focus on planar linkages, this research delves into adopting overconstrained linkages as the limb mechanism. The overconstrained linkages have solid theoretical foundations in advanced kinematics but are under-explored in robotic applications. This study showcases the morphologica","authors_text":"Bangchao Huang, Chaoyang Song, Fang Wan, Guangyi Huang, Guojing Huang, Haoran Sun, Hua Chen, Jia Pan, Jiayi Yin, Nuofan Qiu, Ronghan Xu, Shihao Feng, Wei Zhang, Zishang Zhang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T13:12:50Z","title":"Overconstrained Locomotion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.09824","kind":"arxiv","version":3},"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":"sha256:7376fd29f7e5b01a88a6f1879c616201518bcb99a1dec022e01a8b33fdb1ee1c","target":"record","created_at":"2026-07-05T08:50:08Z","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":"7ee36ad9e42f84a8036624e53978c0b1cc5c0a5e31c105e6f15f7b2d52e59d97","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T13:12:50Z","title_canon_sha256":"68c6bed0c3f870952a8711f7f577252f9eea73701c6af5237790604c5393046a"},"schema_version":"1.0","source":{"id":"2310.09824","kind":"arxiv","version":3}},"canonical_sha256":"86b1ab7d9d07bf6d1f14ad69db329eea0b831a0ca266312f180c20f3f53a8a63","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"86b1ab7d9d07bf6d1f14ad69db329eea0b831a0ca266312f180c20f3f53a8a63","first_computed_at":"2026-07-05T08:50:08.025188Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:50:08.025188Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CaRYGpnWhhl2oEUJVU5KnzDrbelSvMUiGx+Bpc5ZOilsjHTEaOIQtlkmcM4t0+nAAOOXo9nx+mwHXoVYIMz2AA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:50:08.025596Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.09824","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7376fd29f7e5b01a88a6f1879c616201518bcb99a1dec022e01a8b33fdb1ee1c","sha256:f73be894e09ad2638c50bb34c1b20033c870cbf7dde28a1108fa2f6a40ca7f0a"],"state_sha256":"48041312a7e9e12ab54e4811f2e7ae261c43480e8866a74d6385684fbf684562"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MGOxY9JvkzKl/LT4+wZ+1D6zQO6MzMVmI8XaxTKUyQqOwfuSldV8bvYrDRwvz3KEulx8703jzT9THprqcsRBDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T15:57:14.449766Z","bundle_sha256":"6456f13842a266111986021cd0424dd7ee994f04027ebf6e2a1f46a95bce1d20"}}