{"entities":{"Q4262709":{"pageid":6292310,"ns":120,"title":"Item:Q4262709","lastrevid":89294162,"modified":"2026-06-04T16:53:47Z","type":"item","id":"Q4262709","labels":{"en":{"language":"en","value":"Numerical inverse kinematics for modular reconfigurable robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1340985"}},"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":"Q4262709$D5757070-4A14-4D11-8D07-F37F14C2035C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"bcdb9b03096f0a112751cf46f2b3a640c927d253","datavalue":{"value":"0938.70007","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4262709$7FF98F46-CAAC-4737-8BFA-BFC12975ACC3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1705b5e1722b7326aa9af62bccb526b8ac7bd7ee","datavalue":{"value":{"entity-type":"item","numeric-id":1016969,"id":"Q1016969"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4262709$DEA894F8-F499-4D2F-BCC3-34F925E74EE8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d63c1a1fea21934580eaf1dd41a93ec2dda66474","datavalue":{"value":{"entity-type":"item","numeric-id":442540,"id":"Q442540"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4262709$AF4E223C-6ED5-47C2-B789-EEEEC4A4A00B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"73bcc89b17deb3c09fc440f8592a3781bff1f4d1","datavalue":{"value":{"entity-type":"item","numeric-id":4262708,"id":"Q4262708"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4262709$B53DE5B1-9016-4D21-93C0-4251D382386D","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"ce7843932412e0d5c566f14bc25dfa7a3675a659","datavalue":{"value":{"time":"+2000-06-21T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4262709$53D3868C-D912-4F71-BCB5-01ED931A61BD","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4262709$92E529A3-CA89-4A00-ACA6-B31562DB9E85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5666730139cd54a76def570b360d5dca402099e8","datavalue":{"value":"70-08","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4262709$5CD89CBE-5B67-4951-ADA3-D04A519B8E18","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"4378b8b0c567d710e670dc3deadf15e84d2b42da","datavalue":{"value":"1340985","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4262709$7193F394-4FA8-43AB-B62B-785334E4B271","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fac223c849b648d78010bb5e03dd55cdfa8c72f8","datavalue":{"value":"numerical inverse kinematics model","type":"string"},"datatype":"string"},"type":"statement","id":"Q4262709$3167A813-0FFE-410A-8EB5-58A0616B0534","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d6546ac291e7b0f5bff1ddd1817b387cbfdba79b","datavalue":{"value":"arbitrary robot geometry","type":"string"},"datatype":"string"},"type":"statement","id":"Q4262709$055ABFFB-E5CB-408B-BF77-EE880D3E2053","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"63aa96493ea48787f53fe22985b903da4c30d6b5","datavalue":{"value":"product-of-exponential formulas","type":"string"},"datatype":"string"},"type":"statement","id":"Q4262709$DBFDDB72-370A-45E1-848E-8173235E0869","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0a693f37db644a0750938efe277e3b24d001ae1b","datavalue":{"value":"Newton-Raphson iteration method","type":"string"},"datatype":"string"},"type":"statement","id":"Q4262709$54876B07-2F6D-4EB9-8E5F-6743E4442047","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5534526f36107ded82686a8431e6d5996de0e0f3","datavalue":{"value":"automated model generation","type":"string"},"datatype":"string"},"type":"statement","id":"Q4262709$3BE20F10-4CCB-4397-985A-0C11D899F409","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e96b8377212ee4210fdd4a0c4e34013f88ab87cd","datavalue":{"value":"kinematic graph representation","type":"string"},"datatype":"string"},"type":"statement","id":"Q4262709$3DB6A784-29AD-4802-926D-EE91642172FA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0d12f2a0572f3727a7f651d9b6c8eefcb4fa81d9","datavalue":{"value":"modular robot assembly","type":"string"},"datatype":"string"},"type":"statement","id":"Q4262709$CE826A7C-8394-4A37-93FD-1661BB6BB693","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"388f3b3a6e56bf93bc21e70d18158d58ad1deaa5","datavalue":{"value":"accessibility matrix","type":"string"},"datatype":"string"},"type":"statement","id":"Q4262709$E07523F3-4491-48FD-A5D9-D0A782E7518F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5b19334f5839f6b0fff2ab539b5a3f85a39db6e3","datavalue":{"value":"path matrix","type":"string"},"datatype":"string"},"type":"statement","id":"Q4262709$1029C2F6-B161-4D35-A7FB-5382F1F3A5E9","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":"Q4262709$4CBBA6BF-E30A-4638-A980-3EE4338EFB57","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"2ffe25cf25e0e80fcbb99e36e08bce2f24c73aff","datavalue":{"value":{"entity-type":"item","numeric-id":4770975,"id":"Q4770975"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4262709$822AB1BC-A1AB-457E-BDE0-398311819591","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fcb61cd1a948f95439ee55b4599fe16ca59aed2","datavalue":{"value":{"entity-type":"item","numeric-id":4857368,"id":"Q4857368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4262709$B204C2EF-C708-4946-85DA-6BF37B14CFE0","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"31f5cec3d3602c74d54709377d3c77391b7f292e","datavalue":{"value":"W1988194377","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4262709$41F571FA-7572-4E42-9012-810556A4D8BE","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3cf73b8f90837b54864d5dcebfa872b68f751cce","datavalue":{"value":{"text":"Numerical inverse kinematics for modular reconfigurable robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4262709$41AE41D6-59F2-4ECC-9AF2-65EAB94AAAC5","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"adafada1a35d0a5ec32d6db3c9471c26a995336c","datavalue":{"value":"10.1002/(SICI)1097-4563(199904)16:4%3C213::AID-ROB2%3E3.0.CO;2-Z","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4262709$DDCD659A-C3E5-41ED-A1D4-190D538F758B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"f5901b3be9cc97a019238f8a9bbbeacc05517ecb","datavalue":{"value":"https://doi.org/10.1002/(sici)1097-4563(199904)16:4%3C213::aid-rob2%3E3.0.co;2-z","type":"string"},"datatype":"url"},"type":"statement","id":"Q4262709$F2353A9F-8926-4716-B3FA-9CAF381F7E9B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0fd362f0d4745b3cb34ccf60d7bb2f50a4f0addc","datavalue":{"value":{"entity-type":"item","numeric-id":2955112,"id":"Q2955112"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"70f0c8fccf99da0182e4cff0aed3adf1a7508140","datavalue":{"value":{"amount":"+0.8068894743919373","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4262709$A7CA2CC9-3B74-4447-A3A9-8F4DCF16F7E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"aaf5a96b0aff3c59cef25725045914465db723d2","datavalue":{"value":{"entity-type":"item","numeric-id":4733461,"id":"Q4733461"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ddd260f3ba51d85ffe2570d08e00fafb9eb98d5e","datavalue":{"value":{"amount":"+0.7945958375930786","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":"Q4262709$A7B705A4-444B-434E-8DAE-F5A0704D86BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b01ed32b458c7b09643222bc744a062fdfd1ebae","datavalue":{"value":{"entity-type":"item","numeric-id":3358276,"id":"Q3358276"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1dab131ce8a16788f18532721ba798bff969ac21","datavalue":{"value":{"amount":"+0.7598203420639038","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4262709$A6123CDF-CE95-45D3-A06D-1382B69C14B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f9b49d18df3d4a73814b1b310f810be40b4a6b9f","datavalue":{"value":{"entity-type":"item","numeric-id":1786185,"id":"Q1786185"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"929b491cd9665c6c61ed64fea05a005bb4912adc","datavalue":{"value":{"amount":"+0.7506353855133057","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":"Q4262709$A3A9E07A-5562-48BB-92D6-03579EE24DC0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9c9f5be3823ce3d6f17f55135b03efbcd6c0d876","datavalue":{"value":{"entity-type":"item","numeric-id":4794208,"id":"Q4794208"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7687d4318e18ccd75122c752ca8933cc7191cf0d","datavalue":{"value":{"amount":"+0.7483095526695251","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":"Q4262709$7C3D40B0-6254-4A09-B359-A835AD9C93C9","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Numerical inverse kinematics for modular reconfigurable robots","badges":[]}}}}}