{"entities":{"Q2960829":{"pageid":2971554,"ns":120,"title":"Item:Q2960829","lastrevid":85200332,"modified":"2026-06-03T06:16:01Z","type":"item","id":"Q2960829","labels":{"en":{"language":"en","value":"Biped robots: effects of small perturbations on the generation of modular trajectories"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6686746"}},"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":"Q2960829$BD34D65F-BCA7-4CAF-A946-BFCF5A3C8906","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"feae87ee96922e7fed2d8c60fcc25898041b8a55","datavalue":{"value":"1434.70005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2960829$2FC36BD3-B5EE-45D7-A96A-8C448062CEBE","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"150edf8ec2d268dfcc067ced7e50d3728ea4ea4b","datavalue":{"value":{"entity-type":"item","numeric-id":279491,"id":"Q279491"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2960829$A4F5A16C-B683-4EE1-9819-F3589383E3F6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d8b79c44ad51ccdd51088ec3ab56ce9ab25363f2","datavalue":{"value":{"entity-type":"item","numeric-id":2307378,"id":"Q2307378"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2960829$E21D3BCC-0B2F-4F29-9CD9-9B5F9D9DD434","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e36cd83fd205af9d1fc00c1898d87a4a3aa1a0e3","datavalue":{"value":{"entity-type":"item","numeric-id":1707870,"id":"Q1707870"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2960829$8110F226-E170-4B4E-AA47-4EF9A5DF02A9","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"3a051f678ce9f4f7380cf2de9c6018ea50fabc5c","datavalue":{"value":{"time":"+2017-02-17T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2960829$524DB47A-CA8D-4E22-A222-C5B6A70CCCFD","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"32e4d5f8b143d603af692cca24a09525b932c9cf","datavalue":{"value":"http://www.jnaiam.org/uploads/volume_7_3.pdf","type":"string"},"datatype":"url"},"type":"statement","id":"Q2960829$E4AF3940-C660-49F4-884C-0FE296B536C8","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2960829$85CAD798-676D-454A-BC42-7484EED18115","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"8418ff8d03e690f1433f96d4de0cc5acbbd3410c","datavalue":{"value":"6686746","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2960829$7DB50023-11FA-414A-9712-8BD3736790AB","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"77bb9cf83e392432206a9052ecec6e12e0ef887f","datavalue":{"value":"Bipedal walking","type":"string"},"datatype":"string"},"type":"statement","id":"Q2960829$BF39ECBD-898D-4B84-B524-2ABAF6FFB530","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2627e65b02fd1b4dc27b23176d2d5fd346172cfb","datavalue":{"value":"central pattern generator","type":"string"},"datatype":"string"},"type":"statement","id":"Q2960829$BAA566BC-0B03-40C1-BF27-51CE7D9DFDBC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"04d9e5d9c6afb0b2595792ac75e484d110a6ec8c","datavalue":{"value":"motor primitives","type":"string"},"datatype":"string"},"type":"statement","id":"Q2960829$AEFD59A3-7AED-4400-B578-47CE563E0FC4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b066b1039f452aa0132d094440d918ec24e0082b","datavalue":{"value":"changes in periodic solutions","type":"string"},"datatype":"string"},"type":"statement","id":"Q2960829$4C019BBF-1F8F-4115-AB07-FEAB1321C45F","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2960829$A0AB7B89-A00A-43E8-A939-557470347E0B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1aa5fe46478dc94e7ad1769b3b28de0f3bf151fb","datavalue":{"value":{"entity-type":"item","numeric-id":2960828,"id":"Q2960828"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dc5d476355334972553d94ca767e678f06b0109e","datavalue":{"value":{"amount":"+0.7462183237075806","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":"Q2960829$3FE5F83F-4E31-459B-947B-6EA62BD94347","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"612974492535adc0f9040d4a2958b11bf9f7c846","datavalue":{"value":{"entity-type":"item","numeric-id":3179004,"id":"Q3179004"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"102df13908a24a6bcf85c5df2bc1e00a03bfc38f","datavalue":{"value":{"amount":"+0.7395371198654175","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":"Q2960829$39EA9FC4-FE03-4B72-863B-7A6A26A17945","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2eab40c976a51006f7b189cdd0afb1c3ec36b69c","datavalue":{"value":{"entity-type":"item","numeric-id":2960830,"id":"Q2960830"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0cb5c07674ba7f1e4097c699f8e16026a47c0041","datavalue":{"value":{"amount":"+0.7338111400604248","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":"Q2960829$3F3F4255-ADD3-4539-BB85-E3CC82F02930","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8f31248e307db56720fc23b2476b631263650682","datavalue":{"value":{"entity-type":"item","numeric-id":2935214,"id":"Q2935214"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b88fac0778cdca354fbde447ac98e9ca2be6a351","datavalue":{"value":{"amount":"+0.7280571460723877","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":"Q2960829$21B78687-7BA2-4DDA-BA2F-A3336C1B592A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7092d274c4d7c8e6857637b0efc1ada0fa809ff9","datavalue":{"value":{"entity-type":"item","numeric-id":4972898,"id":"Q4972898"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1c95a7521352e1a70d01e176bb75bc96e205b955","datavalue":{"value":{"amount":"+0.726367712020874","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":"Q2960829$066E70AB-A447-430E-8319-5FD28D479A1F","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Biped robots: effects of small perturbations on the generation of modular trajectories","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Biped_robots:_effects_of_small_perturbations_on_the_generation_of_modular_trajectories"}}}}}