Pith Number

pith:XRHYF6KX

pith:2017:XRHYF6KXGBGYZPZK6KBKN6JBEJ

not attested not anchored not stored refs pending

A Projected Inverse Dynamics Approach for Dual-arm Cartesian Impedance Control

Hsiu-Chin Lin, Joshua Smith, Keyhan Kouhkiloui Babarahmati, Michael Mistry, Niels Dehio

arxiv:1707.00484 v1 · 2017-07-03 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{XRHYF6KXGBGYZPZK6KBKN6JBEJ}

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	2026-05-18T00:41:03.235856Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bc4f82f957304d8cbf2af282a6f921226879ecab3165be29e59ae9227777c6ab

Aliases

arxiv: 1707.00484 · arxiv_version: 1707.00484v1 · doi: 10.48550/arxiv.1707.00484 · pith_short_12: XRHYF6KXGBGY · pith_short_16: XRHYF6KXGBGYZPZK · pith_short_8: XRHYF6KX

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/XRHYF6KXGBGYZPZK6KBKN6JBEJ \
  | 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: bc4f82f957304d8cbf2af282a6f921226879ecab3165be29e59ae9227777c6ab

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c91895bd38d053c4f743711088fb0941c5190cd5505a88d26379ed306ff87dd6",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-07-03T11:29:34Z",
    "title_canon_sha256": "473e0c2e0df8d1aef62a99f40d57cb331c42d760915fc111d7d4fc68fc571202"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1707.00484",
    "kind": "arxiv",
    "version": 1
  }
}