{"entities":{"Q1706679":{"pageid":1717420,"ns":120,"title":"Item:Q1706679","lastrevid":68979747,"modified":"2026-04-13T03:30:09Z","type":"item","id":"Q1706679","labels":{"en":{"language":"en","value":"A primal-dual interior-point method for optimal grasping manipulation of multi-fingered hand-arm robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6853826"}},"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":"Q1706679$3848DDA2-6DD7-4516-8F75-E06669658A23","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"8e5635571ce5e27685439fe3c9d8800dc01e1d06","datavalue":{"value":{"text":"A primal-dual interior-point method for optimal grasping manipulation of multi-fingered hand-arm robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1706679$9C337D83-4821-4D84-A451-4A13AEEF9B24","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"d3218467661229b39f02d8854b610a6af7a65e1f","datavalue":{"value":"1390.90573","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1706679$D41F5CCA-1E8F-45F3-B4AB-048792EA1CB7","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"818adf69c9f20ea99931e661269e1835a6d1c072","datavalue":{"value":{"entity-type":"item","numeric-id":489096,"id":"Q489096"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$483CB717-259C-48AE-8DE9-19AD8F174561","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5539b702cecc4b62df917719ce248161e41fdc8f","datavalue":{"value":{"entity-type":"item","numeric-id":1706678,"id":"Q1706678"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$943DE8C5-1E32-4B77-BF56-928C1CFD77A9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4dd15611fdb17ad1d7f18f1b0a10b4364e46609c","datavalue":{"value":{"entity-type":"item","numeric-id":658549,"id":"Q658549"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$F363DEAF-C1CA-4F26-81D2-29AF219A0098","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"e09c1cf5a2c8b62061f217ac07048fc918fb410c","datavalue":{"value":{"entity-type":"item","numeric-id":259107,"id":"Q259107"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$49CD6706-7133-422B-8E4F-05898EDB7AD5","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"3636840c0a59f729d8f693bf0b9a38066b72ec7a","datavalue":{"value":{"time":"+2018-03-28T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1706679$42E43C19-13FA-4076-85C5-43D4217046F4","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"4ac3edbc9a781214f87fc7c9c04c2c17e13b7ca7","datavalue":{"value":"90C51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1706679$3755EB70-B261-444B-8206-E68CBE0D2640","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0b4fa5b59eb6fe6e43618f9e005f4a49f4390971","datavalue":{"value":"65K05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1706679$D52DB7CD-17C7-4E31-919A-90636653BFA3","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"0868ebbc3a439c5a5ce70bb72942006a6081499e","datavalue":{"value":"6853826","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1706679$86770611-D5B9-4FF3-AAD5-07CDC70CDF0C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"824f1a7d928f1ff7c1fad0b09ab454685c977f6c","datavalue":{"value":"grasping manipulation","type":"string"},"datatype":"string"},"type":"statement","id":"Q1706679$45CBE651-5C52-44CC-9BD1-9F74DF0C1ADD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7a206b27ccd84ea337b6499156aedae6d3b24b84","datavalue":{"value":"circular cone programming","type":"string"},"datatype":"string"},"type":"statement","id":"Q1706679$8E9AE8B7-A021-4C33-B07D-48FFF721AF0B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f8f96210d2532fed876e2238ef8b6a755df7fc63","datavalue":{"value":"primal-dual interior-point algorithm","type":"string"},"datatype":"string"},"type":"statement","id":"Q1706679$1D029C11-5EE7-41E8-8BB1-A04BA43AF2CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"26061d27c2e2352863ee2bd8d0bd52f07adfd91b","datavalue":{"value":"numerical tests","type":"string"},"datatype":"string"},"type":"statement","id":"Q1706679$7FE0E5CC-3E89-42EA-82DF-89493E9E9218","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":"Q1706679$3D96C429-766C-42BF-B65C-2FD819822D41","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"bb25fd8ef8bdccd070b82946c68e94f5013b785c","datavalue":{"value":"https://doi.org/10.1007/s40305-017-0161-7","type":"string"},"datatype":"url"},"type":"statement","id":"Q1706679$403B667A-D3C4-43E2-9BB8-ED9193D5F964","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"7ea9b4bf134de1e17abf1c824bef2804230fe6f0","datavalue":{"value":"W2605967204","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1706679$CBE47EB4-F4CE-42B5-A793-0DC59FB78CF3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"7c22289990c955737866d0abe7be7c382a8e58ad","datavalue":{"value":{"entity-type":"item","numeric-id":2438329,"id":"Q2438329"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$6A9337A2-D954-49E7-90A1-8D45D06321D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f08ec9312f8a0d0a0108209d20d24733e173042d","datavalue":{"value":{"entity-type":"item","numeric-id":2353476,"id":"Q2353476"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$F6AB742D-24C2-4DA5-A591-4FDD0C32FFDA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"187b1cb7a05f4e3840fbc474345d815925f402e6","datavalue":{"value":{"entity-type":"item","numeric-id":378264,"id":"Q378264"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$95A2BFB1-0A6B-45BC-A0BF-609D4070274F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fd3a7773f4c9a76ed0635ee596cce9d17ecfd0cb","datavalue":{"value":{"entity-type":"item","numeric-id":1404230,"id":"Q1404230"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$BB2B2584-45F0-4230-BB4D-5443B0E3CEE2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6df82099557c530090bceae49e25a6d17cea0dc7","datavalue":{"value":{"entity-type":"item","numeric-id":3160958,"id":"Q3160958"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$BAF42B5E-8E9B-4669-92CA-92314035CD2F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5746076b918d1dea4a702f65446ceca9655b01e2","datavalue":{"value":{"entity-type":"item","numeric-id":747043,"id":"Q747043"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1706679$3D85C8D3-1605-498C-B706-57FC9BA5C951","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"22a5e4c9503d19a076e2287f8e9fcfd7a12b5c9f","datavalue":{"value":"10.1007/S40305-017-0161-7","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1706679$FE4E61A7-2195-4C0E-90CE-165204BF50B3","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c9e0591edb8fcebf76e57f3034ecdcbae5f92001","datavalue":{"value":{"entity-type":"item","numeric-id":2275328,"id":"Q2275328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"77c6d2f589bd00ac74bc21cca9b316145cf94c72","datavalue":{"value":{"amount":"+0.8271825313568115","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":"Q1706679$919AED96-E707-4722-A965-4897FB078336","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d4910bd5d4ee3e8c4195cf8be4a26c48a936e7e5","datavalue":{"value":{"entity-type":"item","numeric-id":2953984,"id":"Q2953984"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0c08ba671860935a7e80453f21f98dfbf35a21d7","datavalue":{"value":{"amount":"+0.8013124465942383","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1706679$A8E0F4D3-16EC-41EA-BDD8-18CD0EF888D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0108da4fd0a37990e893d7cf9bf85c17491e0162","datavalue":{"value":{"entity-type":"item","numeric-id":747043,"id":"Q747043"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"69e73d834df2d0b2ecfc4d555dcbe977f63cc8b0","datavalue":{"value":{"amount":"+0.7914192080497742","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":"Q1706679$4B8F3E0D-F34E-4FC1-9828-0C1253FC5EAD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6e411dda52cfe5308198ae23e34fa4e28df23286","datavalue":{"value":{"entity-type":"item","numeric-id":2298533,"id":"Q2298533"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"afa2617d3d2a9e166e10ca6a2842bc73c93a0ecd","datavalue":{"value":{"amount":"+0.7794797420501709","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1706679$F151F786-E456-4298-9814-E6248294601D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"88381542c0ffce747ce4c0ae3f9bab7bc32610c6","datavalue":{"value":{"entity-type":"item","numeric-id":4926658,"id":"Q4926658"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f86a63d9288d66366368abeb2da0c84578acd1a6","datavalue":{"value":{"amount":"+0.7720624208450317","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":"Q1706679$3B015C45-3128-4A77-ABEA-8A1ADF57BBC2","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A primal-dual interior-point method for optimal grasping manipulation of multi-fingered hand-arm robots","badges":[]}}}}}