Pith Number

pith:ZVPYEXMX

pith:2013:ZVPYEXMXSW2DB5UPMMM5ALA4CT

not attested not anchored not stored refs pending

Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs

Aaron D. Ames, J.W. Grizzle, Kevin Galloway, Koushil Sreenath

arxiv:1302.7314 v1 · 2013-02-28 · cs.SY · cs.RO · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZVPYEXMXSW2DB5UPMMM5ALA4CT}

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	2026-05-18T03:32:16.232606Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cd5f825d9795b430f68f6319d02c1c14e859b0dc8ec77dc74ea8133ecd92ddfe

Aliases

arxiv: 1302.7314 · arxiv_version: 1302.7314v1 · doi: 10.48550/arxiv.1302.7314 · pith_short_12: ZVPYEXMXSW2D · pith_short_16: ZVPYEXMXSW2DB5UP · pith_short_8: ZVPYEXMX

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/ZVPYEXMXSW2DB5UPMMM5ALA4CT \
  | 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: cd5f825d9795b430f68f6319d02c1c14e859b0dc8ec77dc74ea8133ecd92ddfe

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f33cc5f40dfce4fb0bebe2573d621fbc05fb21e1a701580b597567e2cb2dd34f",
    "cross_cats_sorted": [
      "cs.RO",
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2013-02-28T20:50:26Z",
    "title_canon_sha256": "5208b01bc5bf94cc7ae4a51ade3d8b47f5c63016acc5f2e6fb8799ab5988a30e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1302.7314",
    "kind": "arxiv",
    "version": 1
  }
}