{"entities":{"Q2108701":{"pageid":2119444,"ns":120,"title":"Item:Q2108701","lastrevid":47790421,"modified":"2026-01-02T17:05:17Z","type":"item","id":"Q2108701","labels":{"en":{"language":"en","value":"Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7634581"}},"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":"Q2108701$18D323FF-6235-405C-B830-E9306C326815","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"7565ecdf84969a79ab694338715e3635944b4c6d","datavalue":{"value":{"text":"Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2108701$7E9D2F8D-8DF6-4158-AFEA-68F295F52072","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"af5ee099d38ec98fab964b9e6e4191a636fe75be","datavalue":{"value":{"entity-type":"item","numeric-id":1637249,"id":"Q1637249"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$D8D2066B-676A-4188-B517-3C7F67FFBF04","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1dbc0c60e2702f07002901ccd3c8a7f1755df534","datavalue":{"value":{"entity-type":"item","numeric-id":2108699,"id":"Q2108699"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$990CF756-613C-4EBE-970C-FA830B4EEDDF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"12b4cfc5e7f4b6d46518bd29dc73c9cce5331b7d","datavalue":{"value":{"entity-type":"item","numeric-id":670115,"id":"Q670115"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$A85671A7-A012-4A10-9B0C-BF43697B325F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ea72bea8d90957e92b21f41c91e6debad6589140","datavalue":{"value":{"entity-type":"item","numeric-id":2108700,"id":"Q2108700"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$D42CC93E-6D5D-4A35-8909-CA26002387BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"54421429a3a91168a3a84a159e3d6ebe2fcdd71c","datavalue":{"value":{"entity-type":"item","numeric-id":249539,"id":"Q249539"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$D872D1D6-B6AB-41A2-9F3B-CA1EBD7A1499","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"808a8c67e6fa2e90fc8ccd13eadca038054e6a2e","datavalue":{"value":{"entity-type":"item","numeric-id":186646,"id":"Q186646"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$2D10EFF8-23EB-4C01-8BC4-F64729720D5D","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"354f8a07359c96bc03092e439a646dc8de328ac7","datavalue":{"value":{"time":"+2022-12-20T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2108701$482DE443-58A7-498A-AA54-F5BFAA91ED5C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2108701$9CB5E243-21D8-41C6-AC77-7354D8B65E87","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5ed89e714f021b87ed29091b25770b7146d63e4d","datavalue":{"value":"70K60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2108701$A441DA01-260C-41FB-A94D-0AC81B601B85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6cd2dee30926fa9b0dad415b46290fd2f62a0166","datavalue":{"value":"92C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2108701$8C9B5BF3-AB92-413C-BB7F-5C95ACF40022","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"d71f2f72d99e730047037622176e7f42c183d555","datavalue":{"value":"7634581","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2108701$89C20487-CA98-43E7-9E7D-A25EC271F8E9","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8b57564380e941429c65436d3301f5d673029c00","datavalue":{"value":"spring-loaded inverted pendulum","type":"string"},"datatype":"string"},"type":"statement","id":"Q2108701$F891F3D0-8347-43A1-9806-96469CD66394","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"29390c2afbb91da867ebef5b7e28b340bcae8bdf","datavalue":{"value":"legged locomotion","type":"string"},"datatype":"string"},"type":"statement","id":"Q2108701$2790CCA0-22D7-47D1-ABEC-55D75C8D9602","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"02f575c27cc190c47d5af07172edf476603ab5b4","datavalue":{"value":"perturbation method","type":"string"},"datatype":"string"},"type":"statement","id":"Q2108701$73F5A826-CEA8-43A1-8E22-84C8D0700F84","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"990970763dce2d1d314ef97e5709d9db22625504","datavalue":{"value":"Mathieu equation","type":"string"},"datatype":"string"},"type":"statement","id":"Q2108701$DD89ED2A-0197-47F4-AA23-BD4396950821","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f05b107546ce0f43ddec3cd06e1fc1611dc9d431","datavalue":{"value":"axial force","type":"string"},"datatype":"string"},"type":"statement","id":"Q2108701$EAE002D1-7859-4B5F-819F-82468821C0C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3622e58575b9a46e52d43eb6015cd2c4ed5dea17","datavalue":{"value":"tangential force","type":"string"},"datatype":"string"},"type":"statement","id":"Q2108701$CE0804AD-2D7D-436B-BC41-E5525441AF57","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":"Q2108701$05ACA5A4-3D56-49D4-B5ED-DAE3643CFD6E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2f34571e27a0f583fa5a89636a9b267b6e8f57c6","datavalue":{"value":"https://doi.org/10.1016/j.cnsns.2022.106943","type":"string"},"datatype":"url"},"type":"statement","id":"Q2108701$13C933C6-0811-4DF6-A8E8-B63E1376D0B6","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"204811efb152b86c1214d001004aa67fdeffa12d","datavalue":{"value":"W4306180723","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2108701$883340D3-5EAB-4DD5-BF4F-4278642E760C","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"6feda466a1c0f7dccdb7bbe4329f9b8801ca4f1a","datavalue":{"value":{"entity-type":"item","numeric-id":2205379,"id":"Q2205379"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$7129FCA7-F45D-48F9-8C36-5827664992C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"71037f08ad17fc8d56217a19b4d8b2d6b7486eb2","datavalue":{"value":{"entity-type":"item","numeric-id":3493506,"id":"Q3493506"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$CF6C6AB0-8A8F-446C-8595-8464B23C141E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6701cccea2fa3f51f576279b9a33d734b95cfc03","datavalue":{"value":{"entity-type":"item","numeric-id":2247261,"id":"Q2247261"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$EB476F81-C33F-47EA-B10B-8AE59D7177E0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f09978fbb6ae0bf214dc55cee80008de7221190d","datavalue":{"value":{"entity-type":"item","numeric-id":2205713,"id":"Q2205713"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$294D40E5-FC58-4B38-A321-E25EB5489E01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"45d97dac11484db1786faaf18c58ddfff818679a","datavalue":{"value":{"entity-type":"item","numeric-id":2049829,"id":"Q2049829"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$98183037-DC6D-43F1-9BD3-84DBC78A0A2A","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":"Q2108701$94C917C5-1A1A-4C9A-BB44-AF52AF4D43FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fa6c62d15d4d94bf671e3ac5c7c65613d92f8247","datavalue":{"value":{"entity-type":"item","numeric-id":5317160,"id":"Q5317160"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$586979BB-CEC5-4959-AD89-ADE4645F83C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a3c65abeb56d76e930c459aa367b9f7fc5e0ebb8","datavalue":{"value":{"entity-type":"item","numeric-id":776502,"id":"Q776502"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$E1F85847-D019-4043-B3A7-2B09A1A7FB7E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b53f2b335df313de65f935652a51c2d1bcc8f776","datavalue":{"value":{"entity-type":"item","numeric-id":2183385,"id":"Q2183385"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$EB5BC6F2-5BCF-4707-BD1F-026C9F90DE22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5d178aa2a30afc9dc4da9b2eb641ec379875a50f","datavalue":{"value":{"entity-type":"item","numeric-id":2022676,"id":"Q2022676"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$3730E1D3-49C1-419F-BA23-5C5CFA5C66F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"662ba938bb7a2edd0e39a931f42d22e68cb8a6fb","datavalue":{"value":{"entity-type":"item","numeric-id":1732204,"id":"Q1732204"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$9AF1FF4A-2763-403A-9EA1-732DD64D31A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d035b0567b6c849e3a89cc1cb236375992e30cd9","datavalue":{"value":{"entity-type":"item","numeric-id":2045996,"id":"Q2045996"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$CBD9C5D7-26D5-4A58-9FED-AC86A3B2A484","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"feccc6b5536f7bb3c6649796ce5d72d0dc3822f5","datavalue":{"value":{"entity-type":"item","numeric-id":2038146,"id":"Q2038146"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2108701$D5470B53-0DE2-4A05-8E61-F529BB5F6F55","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"06c06ddf4eedbd2c24ec60af672300885ef7c416","datavalue":{"value":"10.1016/J.CNSNS.2022.106943","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2108701$3A2220D5-70D0-4932-AFEE-F5B3F08570DA","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bae092a2c050b91cf41329c0335fcee111df7005","datavalue":{"value":{"entity-type":"item","numeric-id":655281,"id":"Q655281"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6671cfffdbe4729067587cec312dd213ae0d5a8b","datavalue":{"value":{"amount":"+0.7827228307723999","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2108701$F1D674FE-607A-483C-B52E-8A350B0C0BA6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"915021b6037499264091755df7d0fe771c79514e","datavalue":{"value":{"entity-type":"item","numeric-id":1840684,"id":"Q1840684"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"45b32063019477cf6dc06b428405dc1f8462c985","datavalue":{"value":{"amount":"+0.7659103274345398","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":"Q2108701$A8DB9AC7-1AC9-4691-A9EA-8EF4E2825D7E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"defdf19f650cfaaa49c3e96f74447673796e5f63","datavalue":{"value":{"entity-type":"item","numeric-id":776502,"id":"Q776502"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6d7eb7393e12ec56388040b5ba25fcbd0c2f52da","datavalue":{"value":{"amount":"+0.7592494487762451","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2108701$EF3175E2-B41F-47CB-B92D-8C6589A0AD56","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"adadfd743c51c6e0f860b17a72e601fce09c9897","datavalue":{"value":{"entity-type":"item","numeric-id":1712661,"id":"Q1712661"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"65b14493afb3ace683870cdf5c0e351750d56d94","datavalue":{"value":{"amount":"+0.7363952994346619","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":"Q2108701$D30D848E-F3FA-49E3-AAEB-99130C7EF4BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a63b906b476b1649c0d1431cc46a5c3b68171d3b","datavalue":{"value":{"entity-type":"item","numeric-id":5188436,"id":"Q5188436"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d52f6e06d73137cbedb9e2bf758ef9cf958ebcbf","datavalue":{"value":{"amount":"+0.735938549041748","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":"Q2108701$432EECB6-C6FA-44DB-8B43-A6AB20EEC96A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2108701","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2108701"}}}}}