{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:SHJCIZXV3FCRGJBFZ53UBMDZUU","short_pith_number":"pith:SHJCIZXV","canonical_record":{"source":{"id":"1809.07064","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-19T08:44:19Z","cross_cats_sorted":[],"title_canon_sha256":"9374633ef4a72318559597386444d04380e5b0a7bf84f610d90f6faba5685903","abstract_canon_sha256":"d074471be0b7f17bc7d23ccf8bffb8999bc2b84cb8f54ce6cdaf56e0b7499fe9"},"schema_version":"1.0"},"canonical_sha256":"91d22466f5d945132425cf7740b079a51aed74e8cd8d4a7e22f7bc91da5462e8","source":{"kind":"arxiv","id":"1809.07064","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.07064","created_at":"2026-05-18T00:05:20Z"},{"alias_kind":"arxiv_version","alias_value":"1809.07064v1","created_at":"2026-05-18T00:05:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.07064","created_at":"2026-05-18T00:05:20Z"},{"alias_kind":"pith_short_12","alias_value":"SHJCIZXV3FCR","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_16","alias_value":"SHJCIZXV3FCRGJBF","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_8","alias_value":"SHJCIZXV","created_at":"2026-05-18T12:32:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:SHJCIZXV3FCRGJBFZ53UBMDZUU","target":"record","payload":{"canonical_record":{"source":{"id":"1809.07064","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-19T08:44:19Z","cross_cats_sorted":[],"title_canon_sha256":"9374633ef4a72318559597386444d04380e5b0a7bf84f610d90f6faba5685903","abstract_canon_sha256":"d074471be0b7f17bc7d23ccf8bffb8999bc2b84cb8f54ce6cdaf56e0b7499fe9"},"schema_version":"1.0"},"canonical_sha256":"91d22466f5d945132425cf7740b079a51aed74e8cd8d4a7e22f7bc91da5462e8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:05:20.776552Z","signature_b64":"XNJZupYn3AWOvYCn0YNtP3OxZap65tkhge1hw1/YFgYq/CZ2rVJPcY8Yp88KUW50eJL8dbnxW5eMApY7mqvvDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"91d22466f5d945132425cf7740b079a51aed74e8cd8d4a7e22f7bc91da5462e8","last_reissued_at":"2026-05-18T00:05:20.775969Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:05:20.775969Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.07064","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":"2026-05-18T00:05:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ca9Q6E+kHPMSRpwHUz/W68XxQMlVFro1m1qb+AM4p98eZ4t/qK0IVixSEiPzMeJY307C1mcXRfXBkiQwz6M/DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T07:21:00.477625Z"},"content_sha256":"17dd0912e7f0bcb748cd58d9a2d007891e21a3caabca3a63f18b18d35cb0f95c","schema_version":"1.0","event_id":"sha256:17dd0912e7f0bcb748cd58d9a2d007891e21a3caabca3a63f18b18d35cb0f95c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:SHJCIZXV3FCRGJBFZ53UBMDZUU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Anytime Hybrid Driving-Stepping Locomotion Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Sven Behnke, Tobias Klamt","submitted_at":"2018-09-19T08:44:19Z","abstract_excerpt":"Hybrid driving-stepping locomotion is an effective approach for navigating in a variety of environments. Long, sufficiently even distances can be quickly covered by driving while obstacles can be overcome by stepping. Our quadruped robot Momaro, with steerable pairs of wheels located at the end of each of its compliant legs, allows such locomotion. Planning respective paths attracted only little attention so far.\n  We propose a navigation planning method which generates hybrid locomotion paths. The planner chooses driving mode whenever possible and takes into account the detailed robot footpri"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.07064","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":"2026-05-18T00:05:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ojEuX/qCcs/CoHuRs851PZP7IeS6txaMOXGXz/jjE2O7iZtusIqtnDIpxxpv4Z1Wxb+Kdy8O+pbjhJqmxTxiBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T07:21:00.477975Z"},"content_sha256":"a8242155c193f1c416ea398a081cc9cc7c29e61d78942229d8dcea7b6c450d65","schema_version":"1.0","event_id":"sha256:a8242155c193f1c416ea398a081cc9cc7c29e61d78942229d8dcea7b6c450d65"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SHJCIZXV3FCRGJBFZ53UBMDZUU/bundle.json","state_url":"https://pith.science/pith/SHJCIZXV3FCRGJBFZ53UBMDZUU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SHJCIZXV3FCRGJBFZ53UBMDZUU/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":"2026-06-28T07:21:00Z","links":{"resolver":"https://pith.science/pith/SHJCIZXV3FCRGJBFZ53UBMDZUU","bundle":"https://pith.science/pith/SHJCIZXV3FCRGJBFZ53UBMDZUU/bundle.json","state":"https://pith.science/pith/SHJCIZXV3FCRGJBFZ53UBMDZUU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SHJCIZXV3FCRGJBFZ53UBMDZUU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:SHJCIZXV3FCRGJBFZ53UBMDZUU","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":"d074471be0b7f17bc7d23ccf8bffb8999bc2b84cb8f54ce6cdaf56e0b7499fe9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-19T08:44:19Z","title_canon_sha256":"9374633ef4a72318559597386444d04380e5b0a7bf84f610d90f6faba5685903"},"schema_version":"1.0","source":{"id":"1809.07064","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.07064","created_at":"2026-05-18T00:05:20Z"},{"alias_kind":"arxiv_version","alias_value":"1809.07064v1","created_at":"2026-05-18T00:05:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.07064","created_at":"2026-05-18T00:05:20Z"},{"alias_kind":"pith_short_12","alias_value":"SHJCIZXV3FCR","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_16","alias_value":"SHJCIZXV3FCRGJBF","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_8","alias_value":"SHJCIZXV","created_at":"2026-05-18T12:32:53Z"}],"graph_snapshots":[{"event_id":"sha256:a8242155c193f1c416ea398a081cc9cc7c29e61d78942229d8dcea7b6c450d65","target":"graph","created_at":"2026-05-18T00:05:20Z","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":"Hybrid driving-stepping locomotion is an effective approach for navigating in a variety of environments. Long, sufficiently even distances can be quickly covered by driving while obstacles can be overcome by stepping. Our quadruped robot Momaro, with steerable pairs of wheels located at the end of each of its compliant legs, allows such locomotion. Planning respective paths attracted only little attention so far.\n  We propose a navigation planning method which generates hybrid locomotion paths. The planner chooses driving mode whenever possible and takes into account the detailed robot footpri","authors_text":"Sven Behnke, Tobias Klamt","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-19T08:44:19Z","title":"Anytime Hybrid Driving-Stepping Locomotion Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.07064","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":"sha256:17dd0912e7f0bcb748cd58d9a2d007891e21a3caabca3a63f18b18d35cb0f95c","target":"record","created_at":"2026-05-18T00:05:20Z","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":"d074471be0b7f17bc7d23ccf8bffb8999bc2b84cb8f54ce6cdaf56e0b7499fe9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-19T08:44:19Z","title_canon_sha256":"9374633ef4a72318559597386444d04380e5b0a7bf84f610d90f6faba5685903"},"schema_version":"1.0","source":{"id":"1809.07064","kind":"arxiv","version":1}},"canonical_sha256":"91d22466f5d945132425cf7740b079a51aed74e8cd8d4a7e22f7bc91da5462e8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"91d22466f5d945132425cf7740b079a51aed74e8cd8d4a7e22f7bc91da5462e8","first_computed_at":"2026-05-18T00:05:20.775969Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:20.775969Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XNJZupYn3AWOvYCn0YNtP3OxZap65tkhge1hw1/YFgYq/CZ2rVJPcY8Yp88KUW50eJL8dbnxW5eMApY7mqvvDA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:20.776552Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.07064","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:17dd0912e7f0bcb748cd58d9a2d007891e21a3caabca3a63f18b18d35cb0f95c","sha256:a8242155c193f1c416ea398a081cc9cc7c29e61d78942229d8dcea7b6c450d65"],"state_sha256":"819418df7423de071fadfaf9cb239f31633f6f155b4ed0d0c97c29a05c0cd09b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oJfEgzoSoYzgIb2FQuC/fbidC+AbNqW394fxyCXw5wG8emLhQhhx2OF1C4QSI5iZHqi2lByetL0Jx7335iXBDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T07:21:00.479804Z","bundle_sha256":"1e3366c63338601ec387181d54c17c05bbfc96b27983b27a0f4ac697829543eb"}}