{"entities":{"Q3196219":{"pageid":3206927,"ns":120,"title":"Item:Q3196219","lastrevid":86641958,"modified":"2026-06-04T03:42:30Z","type":"item","id":"Q3196219","labels":{"en":{"language":"en","value":"The multiple virtual end-effectors approach for human-robot interaction"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6501685"}},"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":"Q3196219$8CD5A2AE-D1E7-4194-9619-B16A8DE29430","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"22e46d9e79e39ba0b82831e0944c34e8fbc5e877","datavalue":{"value":{"text":"The multiple virtual end-effectors approach for human-robot interaction","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3196219$6D8896E5-50CD-4D23-9B47-528F8479792F","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"c7c64d2d75576e9c25fdbb891110ff6feaa54364","datavalue":{"value":"1323.70021","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3196219$39B96E24-7EFA-46CB-9788-119DC7653143","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"d4515ddd828170331a0ad843ec3acf2500710847","datavalue":{"value":"10.1007/978-1-4020-4941-5_15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3196219$8D47E43F-42F5-4B41-9F93-C29F2991C939","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"05fd550ece482b2b67187d0a1fc0a6512576af8e","datavalue":{"value":{"entity-type":"item","numeric-id":2476803,"id":"Q2476803"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3196219$E291F19B-12F1-422C-BDF8-EFDAE69586B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5ba14d2c0cb0eabf55094ae814fe8e92471cde20","datavalue":{"value":{"entity-type":"item","numeric-id":3196218,"id":"Q3196218"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3196219$2524D4F1-3FA5-42CB-AE76-98E81C95FF64","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4869e0fc66aadb222451ab8960f63331c4a69f18","datavalue":{"value":{"entity-type":"item","numeric-id":1915014,"id":"Q1915014"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3196219$FECB2E59-AF47-4472-82E4-B22691FBE2FA","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"57f2faed5ae01d4c4554143633fc66e626443c7c","datavalue":{"value":{"entity-type":"item","numeric-id":3196200,"id":"Q3196200"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3196219$62B9099C-6FBE-4F60-B409-69C06BD6ED97","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"1bdde30cb0823a415fe067202cfd3663abd98a96","datavalue":{"value":{"time":"+2015-10-29T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3196219$40122104-11CE-45E0-8228-1FC9D3A1DED1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3196219$C64D26BB-BA56-404D-9377-781783D1A369","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6cd2dee30926fa9b0dad415b46290fd2f62a0166","datavalue":{"value":"92C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3196219$7836BF1C-C28A-40AF-A7FF-86CFF712AF2E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"cc09dfd501f6b97877ca02a61683ed9612e0edb5","datavalue":{"value":"6501685","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3196219$EE9E7147-8C39-49E7-9EDE-95EFD3F6C1AA","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"67292365a89ce803c3fb34be1f48a66f405d83f7","datavalue":{"value":"redundancy resolution","type":"string"},"datatype":"string"},"type":"statement","id":"Q3196219$C1193752-2BA1-4EB6-A130-FC67BFBCB758","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"79b5036620e739e8704d5ba5029f0b03d8bb2fba","datavalue":{"value":"physical human-robot interaction","type":"string"},"datatype":"string"},"type":"statement","id":"Q3196219$3B9A1839-A4E7-4D69-BA9C-8A57CFEC33E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d584e359576a00f85def0b98465ac7707c1c7959","datavalue":{"value":"safety","type":"string"},"datatype":"string"},"type":"statement","id":"Q3196219$B16C398C-6EA3-4D04-B588-71EA0682F538","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e92414361dbb1ceffcb3b7b91d832457786442e4","datavalue":{"value":"potential fields","type":"string"},"datatype":"string"},"type":"statement","id":"Q3196219$71FC8847-8967-44B7-98EC-97BAC337CA66","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9e1b98c64c0dfc3bec7cff093f965649ff45b97d","datavalue":{"value":"obstacle avoidance","type":"string"},"datatype":"string"},"type":"statement","id":"Q3196219$10CA450A-A6FD-42E8-ACA6-0D63EA516206","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3196219$D95AF723-01CF-4944-8821-A9020332DE55","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"ac452020610413a3ed5ada3324361ab623e31705","datavalue":{"value":"https://doi.org/10.1007/978-1-4020-4941-5_15","type":"string"},"datatype":"url"},"type":"statement","id":"Q3196219$A4D59866-DA6B-41A8-9B66-9E1AEFD474D1","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f14ba3e676f87e688d4c805408573be8ebe43b49","datavalue":{"value":"W117922978","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3196219$BAF5CC3B-62C5-4B48-B469-BFA2DF77AE34","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"18750300794df43a11441b480415415edd6daef9","datavalue":{"value":{"entity-type":"item","numeric-id":3991732,"id":"Q3991732"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f57817689ab47ce9e942ce46ba9346c3abd6ffe8","datavalue":{"value":{"amount":"+0.6772053837776184","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":"Q3196219$A840A4AC-1F42-4DBF-B061-468394426A9D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c3746a0e654899c212c3f26b401da0a5fbeefdfb","datavalue":{"value":{"entity-type":"item","numeric-id":2571141,"id":"Q2571141"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7e6f958a2a4bd98027ef7bba43b5116d9b4e26d2","datavalue":{"value":{"amount":"+0.6770603656768799","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":"Q3196219$4259595D-76E0-41AF-A1F2-F4A35E9F2031","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e852e5cc736ce09078583409269987196acae61e","datavalue":{"value":{"entity-type":"item","numeric-id":3817697,"id":"Q3817697"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"30d3e0d756dd6f21c260a12d62a36f3b958384eb","datavalue":{"value":{"amount":"+0.6644708514213562","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3196219$E7BFE9DB-B5F3-47E1-B7B6-F999638335CC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bdee026df06d74c876ffb7b0cd98f624532b95f4","datavalue":{"value":{"entity-type":"item","numeric-id":4348619,"id":"Q4348619"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"112140575f8f007e240788b446a25c618b37eb8c","datavalue":{"value":{"amount":"+0.6587251424789429","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":"Q3196219$9D29A25C-38AA-4095-9F6B-A64AB22E4592","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fcaf6efde0f80b9fdadd536a8c8ef3aa49d9ab46","datavalue":{"value":{"entity-type":"item","numeric-id":3423832,"id":"Q3423832"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"56a9d1ec5001b92b2974480fd6f2836e141a0cab","datavalue":{"value":{"amount":"+0.6587173938751221","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3196219$BCF1884C-6EB7-469D-B934-7308231BD310","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"The multiple virtual end-effectors approach for human-robot interaction","badges":[]}}}}}