{"entities":{"Q1617362":{"pageid":1628102,"ns":120,"title":"Item:Q1617362","lastrevid":68001738,"modified":"2026-04-12T20:47:24Z","type":"item","id":"Q1617362","labels":{"en":{"language":"en","value":"Improving horizontal plane locomotion via leg angle control"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6974962"}},"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":"Q1617362$B70F8B0F-69A4-43D2-9836-0E02216B45AC","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"837ac67cb8406713b83f7e7832c9575dc1af79f2","datavalue":{"value":{"text":"Improving horizontal plane locomotion via leg angle control","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1617362$73EFC294-AFF2-425A-9883-5F18790F7D26","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"35f971fa803ebafa0250c61ff709c4efa1a8cf8e","datavalue":{"value":"1400.92054","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1617362$D873C150-E84A-468E-9F57-9C622E5A4E44","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2ca85145c5bcf26b9d6b48940983710606ab54cb","datavalue":{"value":{"entity-type":"item","numeric-id":1581051,"id":"Q1581051"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$3E378546-B350-4A2C-B305-123D9AD80000","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"0b23f78519bcad15874aad87d1c9a4388e300d13","datavalue":{"value":{"entity-type":"item","numeric-id":69997,"id":"Q69997"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$F2B1F6ED-4D55-45A6-89DF-7267D684217F","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7d94f266e665f0d182ce6e3f9a96799908413b14","datavalue":{"value":{"time":"+2018-11-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1617362$5F748521-A289-46E4-BD78-E651CCDD26E1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"6cd2dee30926fa9b0dad415b46290fd2f62a0166","datavalue":{"value":"92C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1617362$A78791F4-FFA7-442A-9B97-6248F6EED35C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"78962259eea64bad92910a7ae94b5c7e48391041","datavalue":{"value":"35Q92","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1617362$838CE32A-3790-4008-9EF5-3A1272727717","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b2650696ed3935a49b70cc972e8bc0c67a8cd2c3","datavalue":{"value":"93D05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1617362$489679BC-BBBA-435A-B594-488C1C0A601D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1617362$C4685EC8-CA8D-4E6B-97ED-7D9EA70F1FCE","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a8cee8235c3ca86c903b27e4147bc26ec0a00c83","datavalue":{"value":"6974962","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1617362$4EED28F5-18BF-4634-A087-7412AD658A0C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"976562792cca45391bffe182def23a0b718f0c66","datavalue":{"value":"lateral leg spring model","type":"string"},"datatype":"string"},"type":"statement","id":"Q1617362$04A71540-8F7B-46A0-89B2-30F5310AC5A5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"34b44e7b40021effdee26093512bde7058814281","datavalue":{"value":"stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q1617362$D42AC1F1-4250-457B-861A-255D1ED32352","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a2b132c5f72ee9c7bf89ccaca7d5d0d386e1eba8","datavalue":{"value":"leg angle control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1617362$BFDAF016-26CC-429F-858D-F7DA81F84F5B","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":"Q1617362$4E7CD3B9-FE02-46D5-A1B2-32E8B5259F40","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2b687d89602c7415beea701b73d01ec59a10ff73","datavalue":{"value":"https://doi.org/10.1016/j.jtbi.2008.09.020","type":"string"},"datatype":"url"},"type":"statement","id":"Q1617362$8CFC079D-A16F-40F2-AD54-FB5BF42CBA72","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"bf82a16013a9ca27c1ff27265bf2094479aa1688","datavalue":{"value":"W2042681681","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1617362$6C392E85-C9AE-479A-94CB-4F8F26247769","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"2e4eb20355ca70cb49b758c0936e676808ec8264","datavalue":{"value":"Q47275071","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1617362$A141CBE3-9E49-4303-804B-86CB887FE3A0","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"025bef4d6805229d1516c7c237de3a34567fe290","datavalue":{"value":{"entity-type":"item","numeric-id":4706177,"id":"Q4706177"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$AA2E9FFB-41D0-4F59-9D6E-7E1DADE49789","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bf487e86d35244afbed9b7230c4c1f24dc663993","datavalue":{"value":{"entity-type":"item","numeric-id":5470842,"id":"Q5470842"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$99FE77CB-4E72-4871-8739-950C193B44E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1fb5c5a84527b3ee9988faac26fc754a473f89ee","datavalue":{"value":{"entity-type":"item","numeric-id":714173,"id":"Q714173"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$85119E87-2B5C-403D-9114-844FA0D81EA7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ece6aaa1169acbd729fbd33f2358f3cbf90286dc","datavalue":{"value":{"entity-type":"item","numeric-id":5248625,"id":"Q5248625"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$C3DD2B3B-AD1E-4729-9840-9C8B4725C950","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"71037f08ad17fc8d56217a19b4d8b2d6b7486eb2","datavalue":{"value":{"entity-type":"item","numeric-id":3493506,"id":"Q3493506"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$DBB837A2-992C-4F5D-8355-9032E7E82623","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a16a6708bd2c6da4940193f6cb2767da285c6c20","datavalue":{"value":{"entity-type":"item","numeric-id":5248640,"id":"Q5248640"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$EC40C7A3-BC56-4B0A-88EA-11B0244FE8BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d757f0f7d51e8a1da0359d3aab7fb2ab4f208ca0","datavalue":{"value":{"entity-type":"item","numeric-id":1601196,"id":"Q1601196"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$004AD8FF-3AEC-4C9C-BE08-2080A83ADC1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b91696972c0f6ce774e1915997b0226c3362b955","datavalue":{"value":{"entity-type":"item","numeric-id":1601195,"id":"Q1601195"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$7CD11236-6116-4EAF-9BE1-7EBDD20E0587","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a53cc1da022bdea8e564c4ba307e01ba387e0e08","datavalue":{"value":{"entity-type":"item","numeric-id":5947023,"id":"Q5947023"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$7113EF30-390C-44C4-916C-2960199006BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"78d0f3014bdf17fb702960a7daa27ea06621ad3c","datavalue":{"value":{"entity-type":"item","numeric-id":1889013,"id":"Q1889013"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$4E39BB5B-DFF1-4C07-9959-9BF6D4EFCEB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"37ca27070224ed90522dea4b6ca1bbcc3539b8e8","datavalue":{"value":{"entity-type":"item","numeric-id":1840684,"id":"Q1840684"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1617362$A3343661-1D3A-49BB-AB83-073067D0596F","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"de1667290edff535fd63dbfa3ed04ccfec63bca2","datavalue":{"value":"10.1016/J.JTBI.2008.09.020","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1617362$91C64CBA-93EF-4934-95F8-93CA95AA9061","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"21ed81458946987c195e3e72839dcc9879a29d0c","datavalue":{"value":{"entity-type":"item","numeric-id":2376439,"id":"Q2376439"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"81d24fecd4165c58defef787493a28d09f2fa8e2","datavalue":{"value":{"amount":"+0.8616747260093689","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1617362$E507A7F5-0F48-4092-B147-C4A3A27BB9F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c8a3976df5059b5b31b63f43b99aed52ebca1dc4","datavalue":{"value":{"entity-type":"item","numeric-id":5248640,"id":"Q5248640"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5a26256a1350ccfaf7d335538dc871a602f023e7","datavalue":{"value":{"amount":"+0.8520916700363159","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":"Q1617362$D091511C-DAF9-41C3-B5B0-C9012D0A82AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7a7f8882f67a6f9567f41dab02a5a173f6ce0ac2","datavalue":{"value":{"entity-type":"item","numeric-id":5248625,"id":"Q5248625"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a9de8ffc4dd7a7cb2252e996775cccb99fb660b","datavalue":{"value":{"amount":"+0.8305189609527588","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1617362$AE374410-6ED6-4BA3-9E62-EE71BEC7BE10","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0f98bab718ce57ef689c20c7f52e9877c310bf3b","datavalue":{"value":{"entity-type":"item","numeric-id":1601195,"id":"Q1601195"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b605e49869a321fefd8d43b7aa770cd03cbc55ec","datavalue":{"value":{"amount":"+0.8036748766899109","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":"Q1617362$1DE4CBD3-B07E-4ABC-8D81-BEA9CAB9C08E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"955c92cb7ebdc7acc66ea103ad2e0cdbe1d1444f","datavalue":{"value":{"entity-type":"item","numeric-id":714173,"id":"Q714173"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"19e26960c502ae5aa0d29ce2a1b32fa9b63808d1","datavalue":{"value":{"amount":"+0.801340639591217","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":"Q1617362$86616E32-6E02-4359-8B1E-20AA84C1495A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Improving horizontal plane locomotion via leg angle control","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Improving_horizontal_plane_locomotion_via_leg_angle_control"}}}}}