{"entities":{"Q4272953":{"pageid":6302554,"ns":120,"title":"Item:Q4272953","lastrevid":88631438,"modified":"2026-06-04T15:02:10Z","type":"item","id":"Q4272953","labels":{"en":{"language":"en","value":"A linear complementarity approach to the articulated multifingered friction gripper"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 473092"}},"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":"Q4272953$A32ACEA4-099B-4D07-9E61-6CE87147278D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d0e87f7347dc21b071a35d844b02970bcb4ad9c9","datavalue":{"value":{"text":"A linear complementarity approach to the articulated multifingered friction gripper","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4272953$A9F294C4-AD4E-4CEE-838B-15830F9ABB69","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"f1a07636faae1c9ee45b8c65d83b823fe3bf1488","datavalue":{"value":"0781.70003","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4272953$A1D36357-B907-462C-ADD4-9C15F0C1EDEB","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"dcf2247dc0ffeff3fecb6ae4e9231ede8e590ba1","datavalue":{"value":{"entity-type":"item","numeric-id":4006130,"id":"Q4006130"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4272953$90834147-D4A9-408C-9925-1EBD584E7C3B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6243f58da56e82437d8bf76af8974b4d665848a0","datavalue":{"value":{"entity-type":"item","numeric-id":1582391,"id":"Q1582391"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4272953$2C2ACA35-FE43-41B7-93F9-6FAFA7A9CEC2","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a6a06598e91dd6e8240862adb18d7b4a4e051e39","datavalue":{"value":{"entity-type":"item","numeric-id":2711919,"id":"Q2711919"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4272953$384D5409-793B-4861-9C67-8B528DD557A3","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c7dce121de8443526d388e3b78adb2a8691ec0d5","datavalue":{"value":{"time":"+1994-02-09T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4272953$3B8C3E31-A635-42C0-98B8-77EA46CB1842","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4272953$520A58EE-E7F9-40FD-B103-97D526CAAB0E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"661d16430f7b334a15d70221fb102ef2d2fde31c","datavalue":{"value":"74A55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4272953$1CE9F2B5-82F2-4E04-AAA6-D7D3AAA686E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b3fadd4f1b2f2e02f71da5708edfacd7e2b0600e","datavalue":{"value":"74M15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4272953$00256A10-4F74-445C-8E96-6DC18D52A83C","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"71b377d5ea19cd5dd461031f44cd6d58394a4ddc","datavalue":{"value":"473092","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4272953$7981A2D9-5D29-422C-BDA9-6D2DE8F7A6AA","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"90f3471132783e35e81d07ac668803454cf6bfc2","datavalue":{"value":"angular springs","type":"string"},"datatype":"string"},"type":"statement","id":"Q4272953$B69D0533-EE8B-414D-A2CA-E2B2248F6E6D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"87fad421e78df39bed78e82d800c0a85088d020c","datavalue":{"value":"revolute joints","type":"string"},"datatype":"string"},"type":"statement","id":"Q4272953$A2979CDC-37CA-4BB9-8491-EA03F5616999","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6dfe11e45f0429bd14e10a5b83697ffce4d24516","datavalue":{"value":"linear springs","type":"string"},"datatype":"string"},"type":"statement","id":"Q4272953$D38A96CF-EC58-44AD-B530-6FA9C33A63BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"546549f2a97783b6cb6665dbc87d21ac52a386b5","datavalue":{"value":"prismatic joints","type":"string"},"datatype":"string"},"type":"statement","id":"Q4272953$D39CF731-FEF5-4895-BCEA-274949E60555","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9388d5c8c9f0da540d11a82dd9e6cc74a3892984","datavalue":{"value":"unilateral frictional contact problem","type":"string"},"datatype":"string"},"type":"statement","id":"Q4272953$AD274C4C-E772-4DF8-B257-13A32B09AB70","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":"Q4272953$EC677F96-1521-45B7-8D6F-20CA2507C3AB","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"b08724a861758ecdc0ba33d093be205387341cfe","datavalue":{"value":"https://doi.org/10.1002/rob.4620100606","type":"string"},"datatype":"url"},"type":"statement","id":"Q4272953$C4C0DFD0-A3A9-469E-A3C1-602DB22A3E80","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"698bb0699982275ed2a00e230258f89136952ae1","datavalue":{"value":"W2089474943","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4272953$CF4A53DB-672C-43BB-AADF-F4DA5FD9CED4","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"427fd1297530b1243188ab5c635ca4a369d2828a","datavalue":{"value":{"entity-type":"item","numeric-id":3702572,"id":"Q3702572"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4272953$9BCB779A-184A-433A-A6FA-10D307FA10E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9316c4b306de681fdfa21ecc4dd7dbd9cc273101","datavalue":{"value":{"entity-type":"item","numeric-id":1054640,"id":"Q1054640"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4272953$48E75D74-EE54-41D5-9B1A-44699569615F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d4c8ae910539b6d626bbda1e74477fe4896947b","datavalue":{"value":{"entity-type":"item","numeric-id":2546835,"id":"Q2546835"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4272953$6C842E6C-AF86-4146-884D-D17B459663C9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"94abc8705ebb37f31d87bcf9eca153668a350887","datavalue":{"value":{"entity-type":"item","numeric-id":4226179,"id":"Q4226179"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4272953$DB510AD0-F120-4571-B3D5-3D5B76D403D6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"93f4304681edec8b00c92cc01b4db4f739efdcb9","datavalue":{"value":{"entity-type":"item","numeric-id":4158822,"id":"Q4158822"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4272953$59C27F17-F918-436D-91C7-A171CB4D1DA8","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"fb5430dbda476e27887647b74cd7881387974353","datavalue":{"value":"10.1002/ROB.4620100606","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4272953$2C33B577-4805-4B1B-9B1E-860A0BB14000","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"df538ddacb0d194bff370697581d09f150e824b2","datavalue":{"value":{"entity-type":"item","numeric-id":4292322,"id":"Q4292322"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"46ba4a2b5c1904a6494d5ca584461d636c1eddf5","datavalue":{"value":{"amount":"+0.8988970518112183","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":"Q4272953$6707511E-8723-440E-9EE2-ADF98D155936","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a7fe7ee1a2885dd9871dd00cf52a2b90e41b408e","datavalue":{"value":{"entity-type":"item","numeric-id":1595370,"id":"Q1595370"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a9a9b4f9dff3b57231870689a3e306aa7b370257","datavalue":{"value":{"amount":"+0.8448276519775391","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":"Q4272953$8812F683-7004-44F2-9CD6-282C6D0C5F65","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f2307323767ca52835ad5b8687f70327f71dc7f2","datavalue":{"value":{"entity-type":"item","numeric-id":2710490,"id":"Q2710490"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c81fd909e1cacdc4e445b10ede624a5406483280","datavalue":{"value":{"amount":"+0.7944115400314331","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":"Q4272953$1DBE5F2F-4865-4903-8186-B792CAF10C5E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"74afced50161b7f05ec7530763947d0126c6000e","datavalue":{"value":{"entity-type":"item","numeric-id":866304,"id":"Q866304"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4a1b253d0488c6a74ee0ed63f1096266c353bb75","datavalue":{"value":{"amount":"+0.7771590948104858","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4272953$BD0C3AFE-6233-4CF1-B814-4A70D4F6E2BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cd319b05529552746a43d3b788e37a485c19bfa3","datavalue":{"value":{"entity-type":"item","numeric-id":1857574,"id":"Q1857574"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9f5fa468069a2f313a80f4b1d04c61af7cf03017","datavalue":{"value":{"amount":"+0.7642444372177124","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":"Q4272953$8953394D-F04F-4C53-A260-C69184224A02","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A linear complementarity approach to the articulated multifingered friction gripper","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/A_linear_complementarity_approach_to_the_articulated_multifingered_friction_gripper"}}}}}