Pith Number

pith:QFKWD676

pith:2021:QFKWD676OP4MBDEQG5PRBISLEL

not attested not anchored not stored refs pending

Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion

Alireza Ramezani, Eric Sihite, Pravin Dangol

arxiv:2111.12557 v1 · 2021-11-24 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{QFKWD676OP4MBDEQG5PRBISLEL}

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	2026-07-05T03:34:53.443353Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

815561fbfe73f8c08c90375f10a24b22ea33dddad7319ae000c8b543a9033b07

Aliases

arxiv: 2111.12557 · arxiv_version: 2111.12557v1 · doi: 10.48550/arxiv.2111.12557 · pith_short_12: QFKWD676OP4M · pith_short_16: QFKWD676OP4MBDEQ · pith_short_8: QFKWD676

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/QFKWD676OP4MBDEQG5PRBISLEL \
  | 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: 815561fbfe73f8c08c90375f10a24b22ea33dddad7319ae000c8b543a9033b07

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "310926203ef9da4621a68dc87750c4004854187654b509e82857d99342415e62",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-24T15:34:18Z",
    "title_canon_sha256": "ea5ccb40e45fc6bb336f770af6f1edd36b12d5a93462cfcd19090c2be1e3b4d3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.12557",
    "kind": "arxiv",
    "version": 1
  }
}