{"entities":{"Q2425856":{"pageid":2436599,"ns":120,"title":"Item:Q2425856","lastrevid":78986033,"modified":"2026-05-06T12:53:20Z","type":"item","id":"Q2425856","labels":{"en":{"language":"en","value":"Gaits-transferable CPG controller for a snake-like robot"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5272550"}},"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":"Q2425856$BA2499A7-0088-4EE6-925F-7685BEA9347A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"32de3dcf92ea412f45398668c7ed5967e5f2baea","datavalue":{"value":{"text":"Gaits-transferable CPG controller for a snake-like robot","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2425856$BC6B481F-BE44-4BDF-91DF-35E890F5D2E0","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"d003594b43f30851f723297891afe8bd609e7d49","datavalue":{"value":"1138.93384","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2425856$D9114258-3549-4E3B-8904-690E75E22DE3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"0158d7ca9691c2e05fa385018b9484b3ddb566dc","datavalue":{"value":{"entity-type":"item","numeric-id":2293074,"id":"Q2293074"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2425856$2EFFA56C-99DF-4943-BD3A-64D600A98CD5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6aa7207e4388c7030e92a3ecdee067a8f5aa94a0","datavalue":{"value":{"entity-type":"item","numeric-id":543214,"id":"Q543214"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2425856$10E10DAD-E1F0-474B-9CEE-9EF367D65FE1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"61c6edbd3547dcf6da5b8e27ab8d4d44a771c162","datavalue":{"value":{"entity-type":"item","numeric-id":543213,"id":"Q543213"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2425856$D3258A7E-0B0E-415A-9993-08EDE0CBAA91","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e71e34c899283a337215b92cbb9a5d1a93f089a8","datavalue":{"value":{"entity-type":"item","numeric-id":543215,"id":"Q543215"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2425856$66A4377F-B913-49AB-AFC1-359A841429E1","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"f98e7827e954b81f9efe2be64c5ae8ff8fac944c","datavalue":{"value":{"entity-type":"item","numeric-id":419702,"id":"Q419702"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2425856$D8266D72-4116-4DAD-95F1-D5F7AD9A9981","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"a34172db120b005704f43ced97b51c3b3cb63e40","datavalue":{"value":{"time":"+2008-05-07T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2425856$A7ADD4F5-1000-4BDA-AA93-2F48EA959AF2","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2425856$9D90CB20-0CCD-410A-8232-CC2F534EE149","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2425856$27A99744-C16F-431C-990B-444A868EA4C4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2425856$DA09988B-3F21-4394-91B0-D26768B646C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"998e2315eb586146fa99a11c3609a6857593a7bd","datavalue":{"value":"92B20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2425856$A5E9B9AA-A678-4296-800B-14C278C946C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"11589af38a539e8d8a84ef76007cad87372b080b","datavalue":{"value":"93D99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2425856$2B909192-0F1D-4558-8DBF-001698B455A6","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9c83d0bd837dd64fa7e37fa32c0675da626db3e5","datavalue":{"value":"5272550","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2425856$5F1D69FA-4F69-4DE4-88FC-1EE97DF8BEB0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"60f98175d8fb1cf18e3b0922f21ec7275f8bc1ed","datavalue":{"value":"snake-like robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q2425856$F1E93B45-D390-4A39-960B-5E6581BFA5B7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c9050c7d8fb00571ba3263be7bfd7b8a25540fd4","datavalue":{"value":"bidirectional cyclic inhibition (BCI)","type":"string"},"datatype":"string"},"type":"statement","id":"Q2425856$F44762DA-C4EF-4167-906B-810B26D20710","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c7b70dd1ab10d371e994ca64fbe14bb17b304626","datavalue":{"value":"central pattern generator (CPG)","type":"string"},"datatype":"string"},"type":"statement","id":"Q2425856$FBCA75F5-23E6-4FFA-BF30-3ED45208DBF9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c6a02c7186c3e2e4a58ec75cb1fb3fc7d294e88c","datavalue":{"value":"stability analysis","type":"string"},"datatype":"string"},"type":"statement","id":"Q2425856$DF17425C-97C4-4425-9812-4BF93EB0762A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e3612b2f14bc9bd9ef5e19820d4a8eaef0e4b05f","datavalue":{"value":"locomotion control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2425856$C4061CE6-01A1-4ECA-83BB-3674DC6F0426","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":"Q2425856$FEB06253-7377-4716-891E-19FDA2DF2912","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"608194b92dd2ebedcf0bbfb3b2ea1430be72d0a0","datavalue":{"value":"https://doi.org/10.1007/s11432-008-0026-0","type":"string"},"datatype":"url"},"type":"statement","id":"Q2425856$71772231-9EEB-45BA-8634-F279CF60307F","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a2fd2dd891122fa19ed49040df5f7621c73314ca","datavalue":{"value":"W2035707761","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2425856$37A8732D-1A67-48D0-A329-67BDCAE6B259","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"9ad0f6da95f8bb45ee404ebe399bfd4bf4fdb15e","datavalue":{"value":{"entity-type":"item","numeric-id":3160325,"id":"Q3160325"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2425856$3328DA54-6F84-4766-A13E-3F8CAF996165","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"90342f0f43336c35fc2f33fa5816935de4097807","datavalue":{"value":{"entity-type":"item","numeric-id":5549555,"id":"Q5549555"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2425856$ECE6E2C3-E6D6-4A61-BD7F-199C0D0B7DB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"66b8d9fc9a353a3559bb8e21a22bccf0ff1b30c5","datavalue":{"value":{"entity-type":"item","numeric-id":1063538,"id":"Q1063538"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2425856$4D08D31E-6CB8-404B-9781-815406AAC477","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e41862c65c23ed99213852b69da18d62e6493d36","datavalue":{"value":{"entity-type":"item","numeric-id":811435,"id":"Q811435"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2425856$1FBA5F52-B7CD-4624-AD26-272F8DB52A58","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"1970e959e24446a225dc93e1231593fe21faec86","datavalue":{"value":"10.1007/S11432-008-0026-0","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2425856$77962B49-4E31-45F0-8DEE-6426B4D948AC","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c479f18625a9c52cbe8ed2aad5ac11dfada3b9a4","datavalue":{"value":{"entity-type":"item","numeric-id":5453248,"id":"Q5453248"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6738081768fe670541ac829392417792e62603bd","datavalue":{"value":{"amount":"+0.881189227104187","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":"Q2425856$43DE9353-4A0B-47CC-AEC3-13169F4FF1C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ba9bd17d49c41c527f0d7c47116cf2f324bd8c0b","datavalue":{"value":{"entity-type":"item","numeric-id":1369106,"id":"Q1369106"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"265f944ec7deeda4c49bcba8ee0c2f9b5ab95375","datavalue":{"value":{"amount":"+0.7415895462036133","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2425856$BA0E881E-7FF4-41F0-9229-F51C3B023B9D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8671aa3ba2e9a0caf34731164f91ffbfe979168c","datavalue":{"value":{"entity-type":"item","numeric-id":3501130,"id":"Q3501130"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"265f944ec7deeda4c49bcba8ee0c2f9b5ab95375","datavalue":{"value":{"amount":"+0.7415895462036133","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":"Q2425856$F7EC0E06-AECE-46D9-847E-FDAC481D32CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7303845e2afb344f031d33785d0507cbb5bb40b4","datavalue":{"value":{"entity-type":"item","numeric-id":5957462,"id":"Q5957462"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f9a944830987e213c2b884d784018d02e38b6600","datavalue":{"value":{"amount":"+0.7371675372123718","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":"Q2425856$2D841260-A5A0-4F19-AB15-ED086337B688","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ba67aed1a6e40976be85010a96e8aa046ce0eb20","datavalue":{"value":{"entity-type":"item","numeric-id":1666596,"id":"Q1666596"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"836a5316e50427858332fb2278adbb9faec82f61","datavalue":{"value":{"amount":"+0.7342990636825562","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":"Q2425856$0BE110F3-60B9-4981-8566-91E082204608","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Gaits-transferable CPG controller for a snake-like robot","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Gaits-transferable_CPG_controller_for_a_snake-like_robot"}}}}}