{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:TIDAAENZ7ELLNQKK7ABZWM3KI3","short_pith_number":"pith:TIDAAENZ","schema_version":"1.0","canonical_sha256":"9a060011b9f916b6c14af8039b336a46f51d2056d20b9c4102a7f88017fbfb33","source":{"kind":"arxiv","id":"2606.29731","version":1},"attestation_state":"computed","paper":{"title":"Real-Time Compliance and Position Control of a Hyper-redundant Soft Robotic Arm","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Daniel Bruder, Mingyuan Li, Naike Wu, Runze Zuo, Tianhua Zou","submitted_at":"2026-06-29T03:12:57Z","abstract_excerpt":"Robots working in unstructured or partially unobservable environments must combine accurate motion with physical compliance that can passively correct contact misalignment. Soft robots provide this compliance but have struggled to precisely control their tip compliance and position. This paper presents a robot architecture designed around that control problem: a 7-link arm whose six articulated joints provide twelve independently driven revolute axes, each actuated by an antagonistic pair of pneumatic muscles, so that every axis can simultaneously change its angle and linearly adjust its stiff"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.29731","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T03:12:57Z","cross_cats_sorted":[],"title_canon_sha256":"e9d24258027648d026270f2958a790ee8d7f47363764be51cd5eb867f386d3bd","abstract_canon_sha256":"e94ad26c70ce3b9503199b77df4df1df476f9980c47a8af64fa027230dbbfbe4"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-30T02:17:32.482616Z","signature_b64":"9jbHyR70ZPDR+HWT48TfdMdGr73kzYdC37xdZ14DviGJj2W7r82MXOq6O4ZBMkCeAahxkGajzGXXm9lAXv8/Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9a060011b9f916b6c14af8039b336a46f51d2056d20b9c4102a7f88017fbfb33","last_reissued_at":"2026-06-30T02:17:32.482135Z","signature_status":"signed_v1","first_computed_at":"2026-06-30T02:17:32.482135Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Real-Time Compliance and Position Control of a Hyper-redundant Soft Robotic Arm","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Daniel Bruder, Mingyuan Li, Naike Wu, Runze Zuo, Tianhua Zou","submitted_at":"2026-06-29T03:12:57Z","abstract_excerpt":"Robots working in unstructured or partially unobservable environments must combine accurate motion with physical compliance that can passively correct contact misalignment. Soft robots provide this compliance but have struggled to precisely control their tip compliance and position. This paper presents a robot architecture designed around that control problem: a 7-link arm whose six articulated joints provide twelve independently driven revolute axes, each actuated by an antagonistic pair of pneumatic muscles, so that every axis can simultaneously change its angle and linearly adjust its stiff"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.29731","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.29731/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.29731","created_at":"2026-06-30T02:17:32.482203+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.29731v1","created_at":"2026-06-30T02:17:32.482203+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.29731","created_at":"2026-06-30T02:17:32.482203+00:00"},{"alias_kind":"pith_short_12","alias_value":"TIDAAENZ7ELL","created_at":"2026-06-30T02:17:32.482203+00:00"},{"alias_kind":"pith_short_16","alias_value":"TIDAAENZ7ELLNQKK","created_at":"2026-06-30T02:17:32.482203+00:00"},{"alias_kind":"pith_short_8","alias_value":"TIDAAENZ","created_at":"2026-06-30T02:17:32.482203+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/TIDAAENZ7ELLNQKK7ABZWM3KI3","json":"https://pith.science/pith/TIDAAENZ7ELLNQKK7ABZWM3KI3.json","graph_json":"https://pith.science/api/pith-number/TIDAAENZ7ELLNQKK7ABZWM3KI3/graph.json","events_json":"https://pith.science/api/pith-number/TIDAAENZ7ELLNQKK7ABZWM3KI3/events.json","paper":"https://pith.science/paper/TIDAAENZ"},"agent_actions":{"view_html":"https://pith.science/pith/TIDAAENZ7ELLNQKK7ABZWM3KI3","download_json":"https://pith.science/pith/TIDAAENZ7ELLNQKK7ABZWM3KI3.json","view_paper":"https://pith.science/paper/TIDAAENZ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.29731&json=true","fetch_graph":"https://pith.science/api/pith-number/TIDAAENZ7ELLNQKK7ABZWM3KI3/graph.json","fetch_events":"https://pith.science/api/pith-number/TIDAAENZ7ELLNQKK7ABZWM3KI3/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/TIDAAENZ7ELLNQKK7ABZWM3KI3/action/timestamp_anchor","attest_storage":"https://pith.science/pith/TIDAAENZ7ELLNQKK7ABZWM3KI3/action/storage_attestation","attest_author":"https://pith.science/pith/TIDAAENZ7ELLNQKK7ABZWM3KI3/action/author_attestation","sign_citation":"https://pith.science/pith/TIDAAENZ7ELLNQKK7ABZWM3KI3/action/citation_signature","submit_replication":"https://pith.science/pith/TIDAAENZ7ELLNQKK7ABZWM3KI3/action/replication_record"}},"created_at":"2026-06-30T02:17:32.482203+00:00","updated_at":"2026-06-30T02:17:32.482203+00:00"}