{"entities":{"Q2762253":{"pageid":2772992,"ns":120,"title":"Item:Q2762253","lastrevid":41984139,"modified":"2025-05-20T13:29:26Z","type":"item","id":"Q2762253","labels":{"en":{"language":"en","value":"Topological duality in humanoid robot dynamics"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1687417"}},"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":"Q2762253$0A72FDA5-A922-4D68-B314-CFF90047E153","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"d9ffb7f8319b9a54cfbe4abfb7f9fd8dfa656b9a","datavalue":{"value":"0991.93082","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2762253$136C6E1C-8D00-45A8-B82D-821F02C97866","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"53fcb96a7cb4f5e8cbd012770cf049a4dffd75df","datavalue":{"value":{"time":"+2002-09-01T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2762253$18193F79-A7F5-4548-AC85-EBCBC1837636","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2762253$3F6AAE69-DC0E-4B04-AC9B-87091CDDE7E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"23edcff60045f5620fc248ccd723c192fb60f9ee","datavalue":{"value":"93B29","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2762253$A2B01433-0E4D-43D5-B24E-2C4ABBC32DE9","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"cebef0447e0b1e50cbb865a6935422df88448925","datavalue":{"value":"1687417","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2762253$F9638383-E7EB-45E7-98C7-F6583D3E25A2","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5b9867cee5dd6919f328e31462f16f513a949112","datavalue":{"value":"abstract framework","type":"string"},"datatype":"string"},"type":"statement","id":"Q2762253$707D0FA7-3F07-4E9B-AFDB-FE3967F5EDAC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2630d7a69b7b1f26f1d4437e35d2c843cadaef0f","datavalue":{"value":"humanoid robot dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q2762253$C17316F8-EBA2-46C9-A8C2-79CA8282802B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9dd9171c9341127637526bf36c409606c247169b","datavalue":{"value":"rotational Lie groups","type":"string"},"datatype":"string"},"type":"statement","id":"Q2762253$234C1D8D-4236-45EE-BD4C-4EF33995FA3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"063ef0de2db84aeb63e2a7394ce595fa00fa003e","datavalue":{"value":"cotangent bundles","type":"string"},"datatype":"string"},"type":"statement","id":"Q2762253$6721ABE2-062A-4499-8C4C-5BAF04EEF9A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d56b5049c1d1a3038197fa3c1ef98ca2953f1dfd","datavalue":{"value":"configuration manifold","type":"string"},"datatype":"string"},"type":"statement","id":"Q2762253$2A219421-34F7-4712-955A-EC33EEC9C4AD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7bf8c6c0ac3e07f91e8470d07d5d6a1a882595e1","datavalue":{"value":"toral Lie group","type":"string"},"datatype":"string"},"type":"statement","id":"Q2762253$DD032CA4-48D5-4C68-A8DC-2EC78A63F34E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"26a3ea54f7127093cbbd058e685b018e0a3384fb","datavalue":{"value":"homology groups","type":"string"},"datatype":"string"},"type":"statement","id":"Q2762253$A475BECE-4CA7-48BE-8C47-FEC6EA7F0297","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"d395e094db69ba3222e786790d8b7b81805057b4","datavalue":{"value":{"entity-type":"item","numeric-id":437448,"id":"Q437448"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2762253$D1B2B6BB-8521-4415-B09F-0E744D91968A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"b5394da7d853875ecded03d15a32328f56575904","datavalue":{"value":{"entity-type":"item","numeric-id":241501,"id":"Q241501"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2762253$5A00D66F-0C6D-4362-951E-7CF34E4ED81C","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":"Q2762253$8EB54097-1EC4-47FA-AEA1-5B24B4B55D08","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"621b84379aa6122be4f2ace23f53802d90848593","datavalue":{"value":{"entity-type":"item","numeric-id":700900,"id":"Q700900"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2d71054d68a6f60e8f46a143f70cacd55187125a","datavalue":{"value":{"amount":"+0.8895389","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":"Q2762253$3E4D8781-E46B-47D1-AAD8-95AB53766E01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"152627a45ec662bb977a21f1da0dfa7be72f1355","datavalue":{"value":{"entity-type":"item","numeric-id":1107173,"id":"Q1107173"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"86370b9a786b2539dbd917906a2c2804de1f2aed","datavalue":{"value":{"amount":"+0.8718891","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2762253$C80C7E1A-DAB5-42E5-8236-53DD483D4A64","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"02314b0e3627b8caa81507e867bd7875e8c78cd3","datavalue":{"value":{"entity-type":"item","numeric-id":739848,"id":"Q739848"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9f0de24d6dc33dab14a25f332f23df0ac9c4f81b","datavalue":{"value":{"amount":"+0.8696234","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":"Q2762253$1A635E5E-10F1-4450-8091-78AD9CB11459","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"99c3856cf6c35da121f1b03f27618778f3f4d807","datavalue":{"value":{"entity-type":"item","numeric-id":3975118,"id":"Q3975118"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"caa7cb6f604563af38c2512f85bbe4b68f60bc12","datavalue":{"value":{"amount":"+0.8650001","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":"Q2762253$78F53592-574F-4D72-A005-95C8357F2877","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f678f72e743bfccc9425e62e0f500ea90faf54cf","datavalue":{"value":{"entity-type":"item","numeric-id":3377854,"id":"Q3377854"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e70db536218758bd8f05671e295c8642d85510fd","datavalue":{"value":{"amount":"+0.8616135","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":"Q2762253$3C1EC5EE-1492-4D45-BB39-5602784D01E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"92385e0f21c0c37b57679bd63b18895cc24e0070","datavalue":{"value":{"entity-type":"item","numeric-id":4435763,"id":"Q4435763"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bbc094981d9851121e0e9f92f8b7d91f750e9595","datavalue":{"value":{"amount":"+0.8524792","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":"Q2762253$4F0D086D-30C6-4208-AA52-5CFF233E8A9F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"20412dcf5e2afa6867e0fc76f9807a89be2b8ade","datavalue":{"value":{"entity-type":"item","numeric-id":4611298,"id":"Q4611298"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ac49a39d00c50c45d6430be45d33321cfbf59ea6","datavalue":{"value":{"amount":"+0.8514121","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2762253$CC59E006-A846-4AA8-9909-2384C182CD6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b6cd627e2c165e8a67648bf638b4b3aac1dd684b","datavalue":{"value":{"entity-type":"item","numeric-id":3372729,"id":"Q3372729"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9d1841159057ba5d9cf494e608878e577df2420a","datavalue":{"value":{"amount":"+0.8490655","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":"Q2762253$61A284C9-67F8-420E-8798-E4011528BC0A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"35fd3758f4a12548593b6ef8567c2ada6770b304","datavalue":{"value":{"entity-type":"item","numeric-id":939290,"id":"Q939290"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dd4845027e8ab787b13efdaedab256103c5abeb2","datavalue":{"value":{"amount":"+0.84657204","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2762253$BE9B18BC-8CFD-4699-9069-B9BF6DE4F24C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5ae0ac7ef327ec8cf7c5a97711a91cf480ff6716","datavalue":{"value":{"entity-type":"item","numeric-id":2680470,"id":"Q2680470"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"36c85358c20ce7fd6490e4bbcd637a65a3a9aca2","datavalue":{"value":{"amount":"+0.8408802","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":"Q2762253$106E2D53-1A88-4810-92A4-4E80C2893EBE","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"8571efcdc795163d222402a702f0c8783d9c732f","datavalue":{"value":{"text":"Topological duality in humanoid robot dynamics","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2762253$589FD3B5-87F7-4999-B6DD-51E0C43EE7CF","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"268a44bd8a086a12e18dd8f50b027265b4d2caab","datavalue":{"value":{"entity-type":"item","numeric-id":2702922,"id":"Q2702922"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2762253$DF67689B-345E-4703-B33C-70AD4E4E3A6F","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"32248095742603f04aebb5d399511d96d071fc9e","datavalue":{"value":"This paper develops an abstract framework for the study of humanoid robot dynamics. The authors view a humanoid robot system as a collection of segments coupled at rotational joints that are represented geometrically by constrained rotational Lie groups. They construct and analyze dual invariant topological structures on finite dimensional manifolds associated with humanoid motions. The authors investigate both cohomology and homology structures on tangent and cotangent bundles of the humanoid motion configuration manifold. The latter is represented as a toral Lie group. The authors demonstrate that both cohomology and homology groups, acting on momentum -- as well as velocity-phase space manifolds of humanoid motion, provide essentially the same description of humanoid dynamics.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2762253$1D109B97-5E51-47E3-89AC-AED2DDC813FE","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"6b9102c13c80e8969fe945919ec2c5dd96f51712","datavalue":{"value":{"entity-type":"item","numeric-id":590124,"id":"Q590124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2762253$480B61A7-13B3-4705-BBA5-95C1E396BE02","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2762253","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2762253"}}}}}