Pith Number

pith:D3URLCT5

pith:2026:D3URLCT53SYATZB3AVRM2M7SLR

not attested not anchored not stored refs pending

Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom: A Hybrid Position-Force Control Approach with Feedback Linearization

Aliakbar Akbari, Ali Mousavi, Iman Kardan, Rahman Ardakanian

arxiv:2607.00571 v1 · 2026-07-01 · 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{D3URLCT53SYATZB3AVRM2M7SLR}

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	2026-07-02T01:17:47.940157Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1ee9158a7ddcb009e43b0562cd33f25c4c3b3d8f06d36dee0dbdf690fa3104ef

Aliases

arxiv: 2607.00571 · arxiv_version: 2607.00571v1 · doi: 10.48550/arxiv.2607.00571 · pith_short_12: D3URLCT53SYA · pith_short_16: D3URLCT53SYATZB3 · pith_short_8: D3URLCT5

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/D3URLCT53SYATZB3AVRM2M7SLR \
  | 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: 1ee9158a7ddcb009e43b0562cd33f25c4c3b3d8f06d36dee0dbdf690fa3104ef

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1cf1f1a59348cd9378d2e7bdc15c041f47dc78fdbb31839a6ad9d966d83f0366",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-01T07:56:06Z",
    "title_canon_sha256": "7f4cfc9996b454a7ab00ccd24c01ce300e820ecc70c28222c4cfc4637ad2a221"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.00571",
    "kind": "arxiv",
    "version": 1
  }
}