Pith Number

pith:VUYZKRJL

pith:2026:VUYZKRJLGYF2NMMJHEFQRQUSQU

not attested not anchored not stored refs resolved

Actuation space reduction to facilitate insightful shape matching in a novel reconfigurable tendon driven continuum manipulator

Girish Krishnan, John Golden, Sabyasachi Dash

Projecting the backbone shape of reconfigurable tendon-driven continuum manipulators into curvature-torsion space reveals influential disks that enable a sequential model-free actuation strategy.

arxiv:2604.12792 v1 · 2026-04-14 · cs.RO

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\usepackage{pith}
\pithnumber{VUYZKRJLGYF2NMMJHEFQRQUSQU}

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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.

Claims

C1strongest claim

The proposed actuation framework offers a model-free alternative to conventional control approaches, bypassing the complexities of modeling reconfigurable TDCMs.

C2weakest assumption

That projecting the backbone shape into curvature-torsion space produces reliable patterns identifying the most influential disks, enabling effective sequential approximation of global shape followed by distal fine-tuning without degrading overall performance.

C3one line summary

Reconfigurable TDCMs with active disk rotations use curvature-torsion projection to simplify shape matching through sequential proximal-to-distal adjustments.

References

17 extracted · 17 resolved · 0 Pith anchors

[1] Continuous backbone “continuum 2013

[2] Continuum robots for medical applications: A survey, 2015

[3] On the merits of helical tendon routing in continuum robots, 2017

[4] Statics and dynamics of continuum robots with general tendon routing and external loading, 2011

[5] Fas—a fully actuated segment for tendon-driven continuum robots, 2022

Receipt and verification

First computed	2026-06-02T01:03:16.088790Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ad3195452b360ba6b189390b08c292853fe3eca0fe26c2322673cb7cf05bce7d

Aliases

arxiv: 2604.12792 · arxiv_version: 2604.12792v1 · doi: 10.48550/arxiv.2604.12792 · pith_short_12: VUYZKRJLGYF2 · pith_short_16: VUYZKRJLGYF2NMMJ · pith_short_8: VUYZKRJL

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/VUYZKRJLGYF2NMMJHEFQRQUSQU \
  | 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: ad3195452b360ba6b189390b08c292853fe3eca0fe26c2322673cb7cf05bce7d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "22ee1e7669eacf354d55ba84236aaedff1803d81a181c7c737bca520ad16aeb4",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-14T14:25:08Z",
    "title_canon_sha256": "71324bc9cd018b55417be1149016e6ae280c09faf6214df5f4ab23e0035b51dd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.12792",
    "kind": "arxiv",
    "version": 1
  }
}