{"entities":{"Q3720363":{"pageid":5750269,"ns":120,"title":"Item:Q3720363","lastrevid":81205409,"modified":"2026-05-06T17:58:55Z","type":"item","id":"Q3720363","labels":{"en":{"language":"en","value":"Control of a Dynamical Biped Locomotion System for Steady Walking"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 3950285"}},"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":"Q3720363$6CCAA422-D36A-46CD-99FB-F97A2D0F85F5","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"a771126b405ef855859e21312958c2a1f1ec92b9","datavalue":{"value":{"text":"Control of a Dynamical Biped Locomotion System for Steady Walking","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3720363$A135737F-9D90-4DA6-A9C7-8129412C68F1","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"08e44e38ad1cefd212bf465f5e91ea9df2a51649","datavalue":{"value":"0591.93002","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$E0F18D65-4003-4EB9-A368-E15344747371","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"4fc460370cf235f09b613f5f5c87d3200f3781d3","datavalue":{"value":"10.1115/1.3143752","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$6BB4511A-5351-44ED-A60B-3D998B77FA88","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"540ee3ca76f7da34a40ea69d1e942b1a3d5fe81d","datavalue":{"value":{"entity-type":"item","numeric-id":3675967,"id":"Q3675967"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3720363$293FC1D9-3263-42B7-9FBF-F5BBED62CDAE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"aa9f02dcf919b25b64fbd8c6189871a1b95163f3","datavalue":{"value":{"entity-type":"item","numeric-id":3675968,"id":"Q3675968"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3720363$4758AB4A-56C5-4E8B-874F-B146243780AC","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b33595a0f534d1080c23af710577ac779415182f","datavalue":{"value":{"entity-type":"item","numeric-id":3025776,"id":"Q3025776"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3720363$BFCF100E-2B37-46D4-A3A7-DEF14F757209","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"63df7153432d81fa42019fcabb076c89649b0b5b","datavalue":{"value":{"time":"+1986-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3720363$A42ECA08-1F98-4448-B328-4300E1B8414F","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a1d1ec306e6072f89861e74f12dba9e600d6764c","datavalue":{"value":"93A13","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$217DA1B2-68DB-42BA-BCB4-75453D60DEDF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$699900EA-1451-4229-9EA4-D6320FBE28FA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$3E2B7C03-2700-46C0-A89D-545F0D5BB832","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0e40b847cfa456e95c1c964a8cd9df72656b7c29","datavalue":{"value":"68U20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$9E62E2B7-0E39-45F0-A942-3CB72220D6B2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$BC6F973B-71BA-4F6B-B0E4-B59DE46DD726","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"11589af38a539e8d8a84ef76007cad87372b080b","datavalue":{"value":"93D99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$D2F3F0AD-CF65-45DA-8ADD-08C3F6CFCEE2","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"7f4ec2a510be5237e934873eb93022a358be9b5f","datavalue":{"value":"3950285","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$7B3F4B73-3BAD-4A25-AD95-6EC3A4E1E917","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c15a357732755435d45f48c5da85d755a338eec5","datavalue":{"value":"dynamic biped locomotion robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q3720363$DD694144-2AD4-4F5F-BD19-E30D79D33C10","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0634eb6da15a4d0e69ef846472b728725c384a2c","datavalue":{"value":"hierarchical control structure","type":"string"},"datatype":"string"},"type":"statement","id":"Q3720363$07D3382A-BC91-4306-A012-6CBDC1EDA79D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a8be5d1367d3960652653b61b2f28d4d9fe84ab5","datavalue":{"value":"local feedback","type":"string"},"datatype":"string"},"type":"statement","id":"Q3720363$9BEF3539-BF15-40FA-BBC2-9C8FE224C120","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9b3f19f4448e79a04256c56efea2dc6d7d0e0342","datavalue":{"value":"stability of steady walking","type":"string"},"datatype":"string"},"type":"statement","id":"Q3720363$5B402994-7A16-428B-AD82-4A14DA5C3ED3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c881b3c7ebd40251115199ce8ae821055a47daa3","datavalue":{"value":"reduced order model","type":"string"},"datatype":"string"},"type":"statement","id":"Q3720363$521AF692-941E-4D34-9371-5E600DA627CE","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3720363$BB9CB1DF-7893-485F-B2BA-EDFE67899AE7","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"ddbee3eb4633f30043bbb15493e53b52d7999fe4","datavalue":{"value":"https://doi.org/10.1115/1.3143752","type":"string"},"datatype":"url"},"type":"statement","id":"Q3720363$F9FDEA6A-7668-42FD-8004-4CA6C2113984","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"844f16e9a33d805facefcc59561e409fbbc4d3be","datavalue":{"value":"W2000680346","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3720363$AF7671B3-7838-47D9-BEC5-4209C7602087","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"48d827488dbdfd10a16b856e029176f8ca4e68dc","datavalue":{"value":{"entity-type":"item","numeric-id":794589,"id":"Q794589"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5234fa2357d5ac2dcd5b3209744603e4f8a06292","datavalue":{"value":{"amount":"+0.8471975922584534","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":"Q3720363$65F90BB4-E94A-436C-AAA3-AE9EAD4B5B3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"20643f2e8ce3655d78cf1a7db14d1f2cfb270a52","datavalue":{"value":{"entity-type":"item","numeric-id":3758665,"id":"Q3758665"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1c8eaeb4985c002d8beb45a6995a67c59139c175","datavalue":{"value":{"amount":"+0.8091917634010315","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":"Q3720363$9A442A9F-F03E-4634-9F9A-FD77AA5BC41B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"626e2404c7b3d454266459fdd35f14faab9a61fb","datavalue":{"value":{"entity-type":"item","numeric-id":4574955,"id":"Q4574955"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"93b047e28820e162cfaca321ce25b2363e1d4da8","datavalue":{"value":{"amount":"+0.8055325746536255","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":"Q3720363$06DA8C39-B96B-4426-BA2F-8F3F3AE1D8B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9cb93a34c6bd0e74185b4887d5a04e009c4a3687","datavalue":{"value":{"entity-type":"item","numeric-id":1900796,"id":"Q1900796"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e4374e0f29c93de9feaeeec958b4fd704fc2c82e","datavalue":{"value":{"amount":"+0.8044970035552979","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":"Q3720363$36B10FB9-36C1-4132-8503-80C9625204E3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7d0647cda85a428be40cf682504d2681ba35b9cf","datavalue":{"value":{"entity-type":"item","numeric-id":1329233,"id":"Q1329233"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"be6e9c69e40083a05503be9712f1dce063cd3648","datavalue":{"value":{"amount":"+0.8000420928001404","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":"Q3720363$4BA60CCF-83F7-45CB-AF8E-101C061EB596","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Control of a Dynamical Biped Locomotion System for Steady Walking","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Control_of_a_Dynamical_Biped_Locomotion_System_for_Steady_Walking"}}}}}