{"entities":{"Q3403306":{"pageid":3414009,"ns":120,"title":"Item:Q3403306","lastrevid":80764307,"modified":"2026-05-06T16:56:50Z","type":"item","id":"Q3403306","labels":{"en":{"language":"en","value":"Stable biped walking based on linear search optimization algorithm"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5670241"}},"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":"Q3403306$F2B86FB9-D2A6-4F68-8921-C25687F5EEF1","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"cd0cbfe07b973566fcc3ff59111b7f879ee4e260","datavalue":{"value":"1199.68432","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3403306$7E67006F-F022-40C5-87ED-295605205C15","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"7e6dbf77cb15b8ab1167d5392ec888203c3936f5","datavalue":{"value":{"entity-type":"item","numeric-id":256828,"id":"Q256828"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3403306$9EC6FFA0-DD1C-4384-A35E-BCEBB47103AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"bfe62953ee5a7cde7fd2bc074b1cc77034965cd4","datavalue":{"value":{"entity-type":"item","numeric-id":460023,"id":"Q460023"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3403306$E87167F5-69BB-40B5-8435-C6BDA3D7ADE0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a058bb9da729f9292f6e1618b0e702720c93f673","datavalue":{"value":{"entity-type":"item","numeric-id":279094,"id":"Q279094"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3403306$2A708C33-F568-4FF7-8988-CC6A87E32C96","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"f701a5fb7efb18b2a5b2faa4325ff6ec6c98bb41","datavalue":{"value":{"time":"+2010-02-12T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3403306$3A6ECA85-A7C6-4D21-AD3C-F372D77EFFAC","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3403306$30FAB809-F4E1-42A8-9C6F-91D5F89CEBB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"30d6d0de101c6ff200d712a6d7e331bcba20c783","datavalue":{"value":"90B40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3403306$05A66364-71D1-4C50-93B2-685CEC27F4FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"52de7d4bf5a27d5ad252804eec58396bb3e40c44","datavalue":{"value":"90C30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3403306$D02F10E8-480E-4A15-B524-A38041E952D0","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"fffbd30bef79fc6b59094947dba554a2ab7857a0","datavalue":{"value":"5670241","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3403306$23545BF2-A6FB-4F0A-84EF-33F6F5B0E6D0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"25e2982afa586f5ffbe23ade56b3a4cff0589eea","datavalue":{"value":"humanoid robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q3403306$151E4C53-07A9-4642-A0E7-4EDF1C50A351","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d5239faaefd0f14ec0e5de208892b0d22dd17187","datavalue":{"value":"gait planning","type":"string"},"datatype":"string"},"type":"statement","id":"Q3403306$66D5A431-8D1D-4BF4-891E-F827EB569B85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c27024bc3112e6fbf1cca0a9a4aacb8e7e4a77e0","datavalue":{"value":"optimization","type":"string"},"datatype":"string"},"type":"statement","id":"Q3403306$6C6972FC-299F-4C76-8405-967D2653F6D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"542ca7784fb3e87eb07dc7b528f992e4fd55acbf","datavalue":{"value":"zero moment point","type":"string"},"datatype":"string"},"type":"statement","id":"Q3403306$C5538F23-8BF3-4528-B93C-6F4C8A43AB4B","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":"Q3403306$710B5933-043C-4B2A-8EF4-C77F1316E3A9","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9a79f1359ae5898114e2b8609560220d0acdedc2","datavalue":{"value":{"entity-type":"item","numeric-id":5257448,"id":"Q5257448"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bea24be1bcb8bb5a2c811e39c4710cc2e80d7e84","datavalue":{"value":{"amount":"+0.7811397314071655","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":"Q3403306$0D880BF0-8046-471F-BD9C-4B1A6ECD64C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8ed6ddbc6fd9041d9dff81b57711dd7e14c20cfa","datavalue":{"value":{"entity-type":"item","numeric-id":2835496,"id":"Q2835496"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"39cdef03a7bf5d9a39193dc4ce630d5ca91f63d7","datavalue":{"value":{"amount":"+0.7750266194343567","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3403306$B2CBEBA6-ADB4-441D-B95A-5005666BC36C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0901f9aeeda53837f8abe7ca31bd6745a9138b22","datavalue":{"value":{"entity-type":"item","numeric-id":5040561,"id":"Q5040561"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"87aaae2bb2901f439f931e89bb4c4e9fa4bb5bad","datavalue":{"value":{"amount":"+0.7730430364608765","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":"Q3403306$4479668A-6F4C-45BB-B2B1-40EA94E48EFD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6c913b0a66657a332b716383886c53c1cff6dfc7","datavalue":{"value":{"entity-type":"item","numeric-id":2973947,"id":"Q2973947"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9c42dd364a3b993bba084049b9d64a71a58928c2","datavalue":{"value":{"amount":"+0.7680463194847107","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":"Q3403306$3ED8586C-86F4-4CA3-9308-0C820B5A24A9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e73131508d093807af11ad683d3182ede424d782","datavalue":{"value":{"entity-type":"item","numeric-id":4448794,"id":"Q4448794"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eeff189be2045b6020bf0a8e514a12c03c99fb42","datavalue":{"value":{"amount":"+0.7644244432449341","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":"Q3403306$0E446C7B-3675-4EBD-989E-ED9CB23D3CE0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Stable biped walking based on linear search optimization algorithm","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Stable_biped_walking_based_on_linear_search_optimization_algorithm"}}}}}