{"entities":{"Q2491922":{"pageid":2502665,"ns":120,"title":"Item:Q2491922","lastrevid":73340721,"modified":"2026-04-14T15:30:01Z","type":"item","id":"Q2491922","labels":{"en":{"language":"en","value":"Decentralized control of cooperative robots without velocity-force measurements"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5028940"}},"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":"Q2491922$1C50EDC7-5D9F-4D8C-A2AF-FABD35F0C0BB","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3bf09aa61ae31959868a536fda5fec237921d511","datavalue":{"value":{"text":"Decentralized control of cooperative robots without velocity-force measurements","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2491922$BC443087-973B-4D6D-80CA-9642382EF63C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"326ed60874cbe9ee215d8f6475c559043b645457","datavalue":{"value":"1099.93031","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2491922$A4E1CFD0-D53C-4C9D-87FE-64132B0D2281","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"357b3109e9ec81b125b67ecc5437a7964ae29e8a","datavalue":{"value":{"entity-type":"item","numeric-id":2491920,"id":"Q2491920"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$21F0B5D8-F4D2-40DE-8272-D336C0D47D1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"0515993879852996a47e84def777a83fd42de79b","datavalue":{"value":{"entity-type":"item","numeric-id":2491921,"id":"Q2491921"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$47E710B6-438D-4CFC-8C02-06FB9BA08A8B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6c5bf876f32e6b8c0e5ec96ecc2913e123440df7","datavalue":{"value":{"entity-type":"item","numeric-id":162848,"id":"Q162848"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$4DFB8D21-F60E-4A70-A979-B1C81947034C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$A24BDB13-E088-4013-81EC-2CDEF7CC159E","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"f15351dbed855cf0fba6286653472b73d10f2649","datavalue":{"value":{"time":"+2006-05-29T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2491922$8B7CC053-C5D5-4947-9F9E-45E8587804BC","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2491922$8768F70D-02CE-4A14-9336-8DF6D98A3D0A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"fa31302a6315eb00d745d9c7dacf89c33763ee49","datavalue":{"value":"93B07","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2491922$8488453A-B4CA-4674-AA24-5A7A15964CFB","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"6520a8dd1cebebce9fb38301279bb11a2ea4ddf0","datavalue":{"value":"5028940","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2491922$BD545490-33E5-4588-91D6-03B55005BD58","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"228559fa37450ef825ffa3d5f4dbb690a32f7174","datavalue":{"value":"cooperative robot systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2491922$A8B08B6F-685D-4919-B50A-BC05CA42A620","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"92b5d4b8423e785df4bdec1f818fdaea9f8a54d9","datavalue":{"value":"observer design","type":"string"},"datatype":"string"},"type":"statement","id":"Q2491922$555B0A1E-9A90-4833-9813-04B48F478991","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":"Q2491922$445E1773-B2F1-46ED-AF78-FC61DC30481E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"85e435a74a1d8a59109d7e37f7182011dc40ec80","datavalue":{"value":"https://doi.org/10.1016/j.automatica.2005.10.007","type":"string"},"datatype":"url"},"type":"statement","id":"Q2491922$87C6FDDA-D37E-4D94-BCAF-BE352E5BF6FC","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"69b4f4fba16f0e4f0778e6b2041119cf470c7baa","datavalue":{"value":"W1973280993","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2491922$62038B5C-24D0-4C7F-85F4-5B1193514B70","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"32ee9c1d43a407710e489e587c94733e431c0976","datavalue":{"value":{"entity-type":"item","numeric-id":1858372,"id":"Q1858372"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$4FD30E41-5719-488F-9827-8DD4B5E07455","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e45bfd7747dc87b92e58196cbea09e774b04f6f2","datavalue":{"value":{"entity-type":"item","numeric-id":1400320,"id":"Q1400320"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$4CC4FCDE-750B-4029-874B-0108FB925B4C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8f098cf180e6595b6936e7bfee9f27ffd47726c5","datavalue":{"value":{"entity-type":"item","numeric-id":705200,"id":"Q705200"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$F8809AAC-5071-4426-8228-CDE68B560D08","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e3eac3e7fbebb1e1c52f02a605713f8e19917760","datavalue":{"value":{"entity-type":"item","numeric-id":3986449,"id":"Q3986449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$F79B085C-A609-4311-98B6-6FCD927B4ABD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"350aa0d61f62afc2e63c4929aaea997b43b969b4","datavalue":{"value":{"entity-type":"item","numeric-id":3029380,"id":"Q3029380"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$182F38E1-FD14-4D94-BF95-D36B133ADAB9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"862d3ba1ed3a741e67f4c51012e5f9db77a27fd8","datavalue":{"value":{"entity-type":"item","numeric-id":4353761,"id":"Q4353761"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$00B149AE-2F0D-437C-8B48-CEB5B3E4F78A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8a299f3c7c6e19a64488d087b77d2cd230cf3694","datavalue":{"value":{"entity-type":"item","numeric-id":3794036,"id":"Q3794036"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$DA211AB8-F1EC-4AD5-921C-325130D403DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ef586db6b41213cd791b60a63b67ca6431d13bf9","datavalue":{"value":{"entity-type":"item","numeric-id":1347697,"id":"Q1347697"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$151CCD2F-1471-493D-86C8-69FC6E0DEB09","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"03498550e151893315a92abb338754dbbdf1d5f6","datavalue":{"value":{"entity-type":"item","numeric-id":3867675,"id":"Q3867675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2491922$7C96D6E6-3EA8-4316-B665-96B6629CB844","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"6b4df475739f635e7aa1fff0df6bb9dc8c213060","datavalue":{"value":"10.1016/J.AUTOMATICA.2005.10.007","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2491922$C6CA4489-4743-4801-B6AE-367E715DCC03","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d3fea00dbb8b94664299ca2633caa20cfc1ef47f","datavalue":{"value":{"entity-type":"item","numeric-id":2641762,"id":"Q2641762"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2b9651b58f8c40b9842a63ab0c4d439cf94a0bf7","datavalue":{"value":{"amount":"+0.9202336","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$15CD72EA-895C-424B-B8E4-3FC3048C3DBC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"479ff54ee221d047874d410ab476e6d8aad2f6fc","datavalue":{"value":{"entity-type":"item","numeric-id":5026767,"id":"Q5026767"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c3c800f4d2d3532e53cb3ba30863f540155af842","datavalue":{"value":{"amount":"+0.8876716","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$CA199DE8-E132-4EDA-94D0-A01E68A17DCA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"54e0b41023a9163ad4756bb44f119eb720af5017","datavalue":{"value":{"entity-type":"item","numeric-id":4651188,"id":"Q4651188"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6dec0cca556adae43c8f1f8ec18fcaa0a4b1218d","datavalue":{"value":{"amount":"+0.88213086","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$4A492D98-579E-4A07-ABBE-BB815BB4A2B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"877954fefb69f305162de39cd6ef376214ff94e8","datavalue":{"value":{"entity-type":"item","numeric-id":4353761,"id":"Q4353761"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ea16824d88899f34d245d6d6d5e6fa02a83ffd60","datavalue":{"value":{"amount":"+0.8804809","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$2AE89382-1DAD-4AC9-9747-D9B6290F80AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1ff3b79fe278025fdb1324a9084fb3ae46ffc64b","datavalue":{"value":{"entity-type":"item","numeric-id":4685313,"id":"Q4685313"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ae8af636035db64599209537a21e15aaaeba088a","datavalue":{"value":{"amount":"+0.8772158","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$2FDFAA75-6C9D-41A9-A361-AC6546E60601","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7f94e74af100b87a0e9d176a566798c69b799325","datavalue":{"value":{"entity-type":"item","numeric-id":1940290,"id":"Q1940290"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a4d34e97516ff196aaf469f2d62ca6a443f5732","datavalue":{"value":{"amount":"+0.87648386","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$3B29A0A8-4330-457B-9AF0-5E6630388DC7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ea7f4c61c6f6b8cf798d00d29ebd827ed10699d1","datavalue":{"value":{"entity-type":"item","numeric-id":3486918,"id":"Q3486918"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"db915cef060f27911fc039991c05c9160c1f27b7","datavalue":{"value":{"amount":"+0.87521714","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$B12007EA-0721-4FCB-B8CE-75433E4BC714","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f353dd45f67087a177f72dfbc9532a8c1922c6bc","datavalue":{"value":{"entity-type":"item","numeric-id":5383000,"id":"Q5383000"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"35a3ce6b4a6d7af66423d89971ca73e9d95183fa","datavalue":{"value":{"amount":"+0.8746507","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$2F2790B9-E1DA-4580-809D-4ADF185286BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ae67ceee85f607499e5f07fef11cdaae8043c793","datavalue":{"value":{"entity-type":"item","numeric-id":4546869,"id":"Q4546869"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"71122b549d943984bf7857c8ec99d2a4b88eb269","datavalue":{"value":{"amount":"+0.8730668","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$5B459554-C023-41C2-BE8A-6F90FCD8DDBF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3069112305e38c261c860ba59119fdda4bf13e2d","datavalue":{"value":{"entity-type":"item","numeric-id":4644184,"id":"Q4644184"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cc90ffb0469ca481a525a61aa27add97a9707188","datavalue":{"value":{"amount":"+0.8726497","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2491922$EB995A96-23BE-4657-A891-140355EB6E74","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Decentralized control of cooperative robots without velocity-force measurements","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Decentralized_control_of_cooperative_robots_without_velocity-force_measurements"}}}}}