{"entities":{"Q2174036":{"pageid":2184779,"ns":120,"title":"Item:Q2174036","lastrevid":57759951,"modified":"2026-04-02T10:05:49Z","type":"item","id":"Q2174036","labels":{"en":{"language":"en","value":"Local stability of PD controlled bipedal walking robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7190709"}},"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":"Q2174036$8C96E3A6-D66C-4D26-A701-FA2FE4015C09","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"7d2c8a7678316b4bb82165a695b5efb62f51a47b","datavalue":{"value":{"text":"Local stability of PD controlled bipedal walking robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2174036$11179FA5-390B-4CBC-999B-D5C080FACA13","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"cda31d7f6fd27925b5464dd9497a164475c663a8","datavalue":{"value":"1441.93195","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2174036$0511A299-0C4D-49FA-837D-E4BB840D517D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"567dbcb9952244fd0b7ce5905176ee602e11bd7f","datavalue":{"value":{"entity-type":"item","numeric-id":2174035,"id":"Q2174035"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$BF379A94-9D69-41B0-B67A-310FADCE4304","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":"Q2174036$87884CD1-94CD-4934-8B16-EC6387864D5A","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"15784d321aac3bade60fa378317d3f88af56df9f","datavalue":{"value":{"time":"+2020-04-17T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2174036$D20FBD95-4A47-4A1A-B0AA-6CDF4D11C247","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"23479501185905da9b30d1aa5734b00a7e80596e","datavalue":{"value":"https://arxiv.org/abs/2001.00145","type":"string"},"datatype":"url"},"type":"statement","id":"Q2174036$BF1315C2-F70C-488E-96C4-D6A688C19101","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2174036$4467E7A5-859E-45BE-98C4-B1969A6392A2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"4cb03dec90fe525e8b9b675a14b72707c9af90a3","datavalue":{"value":"93D23","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2174036$0A421AA0-A060-435A-8FAC-C991F9DE74B1","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"20ee49921857d5954758131bdf1ce42edb72b32f","datavalue":{"value":"7190709","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2174036$10B1936A-05DF-4AB4-A7E1-4550BF16B879","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3a0d6aff0878abea6f9a2948bc13799222967f20","datavalue":{"value":"PD controllers","type":"string"},"datatype":"string"},"type":"statement","id":"Q2174036$BC54130E-D605-429B-9A5D-0A28FBFD85BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"330c87faabf888be91316b9667c61c2ac6b5c01d","datavalue":{"value":"walking","type":"string"},"datatype":"string"},"type":"statement","id":"Q2174036$CA5026DB-BB71-4F32-87C6-A4550C5F506E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"baa401a90f7be40837e492046fd0146ae8e354d2","datavalue":{"value":"robotics","type":"string"},"datatype":"string"},"type":"statement","id":"Q2174036$6B392FBF-5685-4062-984F-4FCE464ED1FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"57238843f6cf5c1e1e63075b7cb5663abd8aae26","datavalue":{"value":"periodic motion","type":"string"},"datatype":"string"},"type":"statement","id":"Q2174036$6860D4C2-D34C-4DAF-BADF-0105F0D76FCD","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":"Q2174036$4B1F084B-0232-4195-BE9C-51975205E0D7","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"d4048f8df3e043cdaa46a5db8d70abe35a0b8636","datavalue":{"value":"W3002785579","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2174036$B0CA8C14-6E6D-4A89-91D0-7425C5661084","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"8e40fcfaf3f7b088e2e4c0b566b205b420f73e2e","datavalue":{"value":{"entity-type":"item","numeric-id":2983194,"id":"Q2983194"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$99658CE7-F8A9-47C6-8820-E2B7999B5FD4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d8f51123d4849920c0bd477136f67ae685bea6fb","datavalue":{"value":{"entity-type":"item","numeric-id":4821526,"id":"Q4821526"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$051B021C-6C4C-41A0-ADF1-C1F039BB9F37","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7e9663e6763de9ddf239290727964b152709914d","datavalue":{"value":{"entity-type":"item","numeric-id":1422269,"id":"Q1422269"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$545D6850-E4B9-4166-A738-16ED12252E04","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de7b22935fa324cee8b24994a3a79becfcd7e98c","datavalue":{"value":{"entity-type":"item","numeric-id":4393203,"id":"Q4393203"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$0ACA1626-18E1-413D-9F6C-E668498603CD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$C21031E1-CBDD-480C-8ABE-C8AAF29128FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cde4b37fe8e8ea6cfddda5b9599e623dbe562f6a","datavalue":{"value":{"entity-type":"item","numeric-id":2406960,"id":"Q2406960"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$EE07C1F5-EB03-4F36-B1DC-706DAFEC5691","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"65607ab3907ef1dd830fdec7346ec26cf746a256","datavalue":{"value":{"entity-type":"item","numeric-id":1609046,"id":"Q1609046"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$76A9BD96-E955-4A23-8D17-74F3BFA6F916","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fcb61cd1a948f95439ee55b4599fe16ca59aed2","datavalue":{"value":{"entity-type":"item","numeric-id":4857368,"id":"Q4857368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$352D2C02-E890-47DD-B299-B03FF563C9CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3f41691a5ecb1c79e5c8aa0dc482a85d957498b2","datavalue":{"value":{"entity-type":"item","numeric-id":3929603,"id":"Q3929603"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$9547E00A-7981-433A-ACDC-B8CBFEBB5140","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e403b7c58ddf3ba9090b13b93aef7b010f1c6cb9","datavalue":{"value":{"entity-type":"item","numeric-id":5211216,"id":"Q5211216"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$C241DE2B-C543-4D2B-A90D-D48976D47B2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d7bc2bca3b48fdc81c7d447431ef2ed7b068881","datavalue":{"value":{"entity-type":"item","numeric-id":3791045,"id":"Q3791045"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$2DEE2B10-0744-40AB-B6DE-5A935FEBAFEC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f316245aa45e3c89081e8af8637dcdcead7cbb42","datavalue":{"value":{"entity-type":"item","numeric-id":5266962,"id":"Q5266962"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2174036$8FA9F7E8-9EC9-4EB3-BC3C-48C5DFF0198B","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"0ac4cac1fb70a6a353b7b1e015c0c0ae2ec1d782","datavalue":{"value":"10.1016/J.AUTOMATICA.2020.108841","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2174036$DEA59FF1-91D6-42A9-8178-A2C70F2EE604","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"47b35ae9f1921482ca27a98bb3cfdb4d5ba2d8df","datavalue":{"value":{"entity-type":"item","numeric-id":2205379,"id":"Q2205379"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e01fe946278d12852cf25b70700a148777692845","datavalue":{"value":{"amount":"+0.8055371642112732","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":"Q2174036$4CEBD615-8805-4815-B3C0-FE7576D52B27","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2f86a67cd0b1c09add394ab0cd32e9987978ea91","datavalue":{"value":{"entity-type":"item","numeric-id":466265,"id":"Q466265"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bfd31df92bd1c496c0e5a8d0c660953a9a7ec759","datavalue":{"value":{"amount":"+0.7873862981796265","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":"Q2174036$92E9E581-DBC5-4063-B29A-E1A7C4E8B70D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f8ae66c52356113f46f8561f4c057e2d26924336","datavalue":{"value":{"entity-type":"item","numeric-id":705463,"id":"Q705463"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"93e4164de1e6a0dad5b492ba4a336b52afa5fbbb","datavalue":{"value":{"amount":"+0.7805521488189697","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":"Q2174036$07C058B5-C840-4386-ABCB-256BA94C34FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fa3e1c12bd9abdde908262e0088baf49e9fb3953","datavalue":{"value":{"entity-type":"item","numeric-id":5474273,"id":"Q5474273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"519756b7e93dd962a0b257d888fa08f4d133c1b8","datavalue":{"value":{"amount":"+0.777561366558075","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":"Q2174036$472ED776-29D6-4589-99C4-56D1CBF0AD33","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3f4bd9ceb9d9045456b26a70a013457082ae4161","datavalue":{"value":{"entity-type":"item","numeric-id":5436299,"id":"Q5436299"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"64b929e2d68e2fc1cda0fb1947c2655b46c26321","datavalue":{"value":{"amount":"+0.7772666215896606","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":"Q2174036$77DB14D5-AD17-4DC2-8A8A-BB6496F0D93D","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2174036","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2174036"}}}}}