{"entities":{"Q1194904":{"pageid":1205653,"ns":120,"title":"Item:Q1194904","lastrevid":66300768,"modified":"2026-04-12T08:59:08Z","type":"item","id":"Q1194904","labels":{"en":{"language":"en","value":"On the adaptive control of flexible joint robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 68807"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$F6AC35B5-75FC-4FD9-B258-D21C4C2E958F","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b758a7a92dccd336aa8a1c4626abc07d9a663e77","datavalue":{"value":{"text":"On the adaptive control of flexible joint robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1194904$615C1D26-655D-45BF-A343-72B57D885FED","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"5b44776d01ae492fca0b739ecaed56880acea3f1","datavalue":{"value":"0766.93052","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1194904$981140E2-D1D6-4F9D-BBBB-0B019B3AD553","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"21b49c16f40c22cbbe3174e98b267aeab729fecd","datavalue":{"value":"10.1016/0005-1098(92)90149-A","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1194904$79225CF5-82E1-427A-86A6-4D7E4D2E5ACF","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"d95aa31430222d3f198522c98abecd5ceb49643c","datavalue":{"value":{"entity-type":"item","numeric-id":1194902,"id":"Q1194902"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$F2486F0F-6E31-41A6-9516-E8ACBC647628","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d5fa9851822e43af496ece8e8b34dcd0931066b7","datavalue":{"value":{"entity-type":"item","numeric-id":1194903,"id":"Q1194903"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$D01E5DB8-4DB2-4871-A8D7-A99EC7A3F322","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$90F226CF-5FD3-444A-BE55-D6D692C051B3","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"85e0cfb2fa8ed2ccba7fc0d93911291640b75e4e","datavalue":{"value":{"time":"+1992-10-06T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1194904$B0E8E1E7-C9A3-4A85-BCE6-8E0F7599AF1E","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1194904$F8CE66FD-CDDA-46D6-9B86-B0BB6D52D3E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1194904$32FE7926-37C0-4644-9F88-6F9CED58763E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"048250fd0df3ca7144b12b0c6b73ae1f653a7842","datavalue":{"value":"68807","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1194904$62B4BADF-46CD-46D0-80BF-8D733252E660","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cb6d2f29f1272ad105e54e0e69f1ae0b52e64086","datavalue":{"value":"flexible joint robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q1194904$105754EA-E539-471E-8D3F-018E1D26113C","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"e6d1e787b82d94ef9454e0c8e9b419f5161a3d1f","datavalue":{"value":"Q58812587","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1194904$82AB60B0-3544-4F9F-B02C-D3E2BFEE3A00","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$71FFA104-E018-4DB6-88A5-E974309E7EF1","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"a50706f7cfa3f7fc09d220ef2ca77758e69609c3","datavalue":{"value":{"entity-type":"item","numeric-id":4170592,"id":"Q4170592"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$6FA510A9-E584-4C5F-86E8-A83DF4997E22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ae5617bda8a82ca404d494999186ccd95daf59bb","datavalue":{"value":{"entity-type":"item","numeric-id":5644392,"id":"Q5644392"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$28B3C037-47FD-4259-91DF-39E06294F25E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ee99bc33403c193aa2143889ef4b993723571826","datavalue":{"value":{"entity-type":"item","numeric-id":3197421,"id":"Q3197421"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$CF8247D9-7A16-4BA8-AED3-02EE57FC409B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d4c945dab268261fa1b9698be96af5f641d6975","datavalue":{"value":{"entity-type":"item","numeric-id":3683993,"id":"Q3683993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$9194E28E-CE6D-4439-8FD8-A989D55148B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e8651508e00475ebc8dfa21ee1d18f56f707a1d9","datavalue":{"value":{"entity-type":"item","numeric-id":789359,"id":"Q789359"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$78A4E572-BCA1-4E33-B6E7-05BC61C927D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d4a87ef0c3cd2d19d3d1f354ab2c35bfe1ba9809","datavalue":{"value":{"entity-type":"item","numeric-id":3815963,"id":"Q3815963"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$810B84AB-35FC-4A80-B613-92B768A04721","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"25f57b39a56ea1ac27ba24709c00d069bb3e31cd","datavalue":{"value":{"entity-type":"item","numeric-id":3804564,"id":"Q3804564"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$F7610795-A719-49E5-BDE8-8B4339BB9848","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ee34277b8fba4bf5aeb4338afa6c76a11353b42c","datavalue":{"value":{"entity-type":"item","numeric-id":583163,"id":"Q583163"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$78B55CBE-07FF-4237-9496-86724E8791C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0e154b569d96a77103f09fd27d2d10497196d18c","datavalue":{"value":{"entity-type":"item","numeric-id":3682327,"id":"Q3682327"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1194904$08C453A4-7740-4E25-BBB4-1FE59B29D319","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e0715ab405dc450dd49182be543e218546e16245","datavalue":{"value":{"entity-type":"item","numeric-id":583163,"id":"Q583163"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0615c2eb9b5a877b6aca0a02a662ccbba6dd9979","datavalue":{"value":{"amount":"+0.8810707330703735","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1194904$8003A447-F98A-4E5E-806B-A5B3444F5AB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7f17abf6e209020a624e0f95db722b11ed9e4a27","datavalue":{"value":{"entity-type":"item","numeric-id":4012577,"id":"Q4012577"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"97dcaadca3db3eecfd9dee76c153b97779d5c44f","datavalue":{"value":{"amount":"+0.8615218997001648","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1194904$0B7F9AE6-75C8-4DFA-B7BE-A2B5EE721E15","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f076e823f7d7db911dcbbac8034bdd99afc800d6","datavalue":{"value":{"entity-type":"item","numeric-id":3989592,"id":"Q3989592"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8482a68d8b521e9d39a6066f45e5753803fa233e","datavalue":{"value":{"amount":"+0.8538429141044617","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1194904$061F0249-9362-481F-9231-0D8C8F2F0ACA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7cbafce543f236d7232470ac4defcc4488df44fa","datavalue":{"value":{"entity-type":"item","numeric-id":5202594,"id":"Q5202594"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f9e70edb5dbfaf492edf8cba403aed4721227fcd","datavalue":{"value":{"amount":"+0.8522475957870483","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1194904$7CCF60C0-9257-44EC-80FE-DFDE82D9A1A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"43e6f9a5b08c441d4ae1599ae6996400f416ae49","datavalue":{"value":{"entity-type":"item","numeric-id":3840674,"id":"Q3840674"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"12bb9dceed655d5a5e15e382a2f4539e94e75563","datavalue":{"value":{"amount":"+0.8488819003105164","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1194904$4F5CD63D-42C3-42AF-A8A3-0EE8C9D1736A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"On the adaptive control of flexible joint robots","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/On_the_adaptive_control_of_flexible_joint_robots"}}}}}