{"entities":{"Q437401":{"pageid":439168,"ns":120,"title":"Item:Q437401","lastrevid":51514913,"modified":"2026-01-18T14:24:58Z","type":"item","id":"Q437401","labels":{"en":{"language":"en","value":"Nonlinear control of electrical flexible-joint robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6057960"}},"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":"Q437401$5A63C8EE-3523-4BB0-A26D-7F08F250D4AA","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"de0a73edbf9da167dacf56d05d3938de213fb538","datavalue":{"value":{"text":"Nonlinear control of electrical flexible-joint robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q437401$08E218CF-1C42-4452-848A-3E1207D0E8B8","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"5b767e1b0f5bcd54bc0a2d992e75f76da7019a3a","datavalue":{"value":"1243.93069","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q437401$03390786-4F8E-4F8B-8E0E-C14CB72014D5","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"6d93af243b7a64e54d5869d54e69e2f6f565fc20","datavalue":{"value":{"entity-type":"item","numeric-id":437256,"id":"Q437256"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$C19C85F5-8FFD-4479-B2F9-34C8A582261F","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"d3b6540a5cd6a7f15bca174716bb7f991ed59bfa","datavalue":{"value":{"entity-type":"item","numeric-id":65804,"id":"Q65804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$545C2DA6-E11E-4B04-8491-B7187F33C1F6","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"84ece3a61d19e8a79724038a31d8c2f410ad0a43","datavalue":{"value":{"time":"+2012-07-17T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q437401$EBC2A9D3-E83C-4D2C-B354-B311510471E6","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q437401$1F974D8E-84E6-4239-BCDB-085C9E2E55C4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q437401$488E8F9E-BB1D-4FFA-A1FA-9C3594872BC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q437401$9264402F-8534-4507-AA6B-97262023D7D5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"11589af38a539e8d8a84ef76007cad87372b080b","datavalue":{"value":"93D99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q437401$A439C495-EBD1-4F68-8975-65E6DD2D5070","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q437401$BC963C39-9D67-4E24-AE41-84E4A8DD4170","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"3b946a7a55282118cc96135a8325e87d8c07c44f","datavalue":{"value":"6057960","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q437401$65B2D8BB-8584-4596-AB9C-7CAEAFEE2546","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d3c84b178f568bb34a5264d15470b8fac6f6310d","datavalue":{"value":"electrical flexible-joint robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q437401$C5DC9D86-04E4-46D1-AC43-62279522D291","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1099d3774835e99f71b0be7ad3c7400fded8078a","datavalue":{"value":"nonlinear control","type":"string"},"datatype":"string"},"type":"statement","id":"Q437401$8C2414C5-7324-4BDD-851F-5070ACDCD973","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c6a02c7186c3e2e4a58ec75cb1fb3fc7d294e88c","datavalue":{"value":"stability analysis","type":"string"},"datatype":"string"},"type":"statement","id":"Q437401$7376F99E-409B-4B1E-82A8-4D3E72AB032A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9e97087d7b576346a0d5e41c13a227c6c05596b6","datavalue":{"value":"voltage control strategy","type":"string"},"datatype":"string"},"type":"statement","id":"Q437401$FA743575-FDE8-494F-828E-B3C8F8B602E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"36fcc5187138dbc1674a065bb674122a597aba1c","datavalue":{"value":"uncertainty","type":"string"},"datatype":"string"},"type":"statement","id":"Q437401$A3EA808F-2177-49D0-A0DE-170EAB149F93","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"681ca691e906a7f3c98682bf2240c77c45ed70c4","datavalue":{"value":"robust adaptive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q437401$A03A4346-456C-49D7-8CEA-48FFCDFFFD7B","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":"Q437401$16E10A51-15AB-4ACA-85E1-6AB3115D8FED","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"3faec24a6f80a11942b1d164a3c073898ef79432","datavalue":{"value":"https://doi.org/10.1007/s11071-011-0167-3","type":"string"},"datatype":"url"},"type":"statement","id":"Q437401$4F60F343-D646-4A56-8289-441BC29C99CC","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"8ba1b31035d3b1ddd97760b4876422e36223ab2b","datavalue":{"value":"W1978577818","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q437401$E30BD58B-57AA-411C-B848-7CF93FA4BEB5","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"e7a5a3efbcd6b4fb873eda5984f54392206c3111","datavalue":{"value":{"entity-type":"item","numeric-id":1899575,"id":"Q1899575"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$88BEF05E-B9DE-437F-873A-B809F897FA1E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d5f038a81fa70df3adafc442c5c847c3ca71f222","datavalue":{"value":{"entity-type":"item","numeric-id":437257,"id":"Q437257"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$5D7B9700-023F-47A3-853A-CB82FE294B8F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"25f57b39a56ea1ac27ba24709c00d069bb3e31cd","datavalue":{"value":{"entity-type":"item","numeric-id":3804564,"id":"Q3804564"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$0311A21B-6B46-42FD-909E-5232A2CDB770","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9964af50333d47b96da052337318bcfc921ab620","datavalue":{"value":{"entity-type":"item","numeric-id":1893024,"id":"Q1893024"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$019ABB10-C9BA-4F89-ABC3-5971FEDCF091","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9f7c394e1d837b1d8dafc38893455a861a6e9d34","datavalue":{"value":{"entity-type":"item","numeric-id":1899568,"id":"Q1899568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$51C103EB-D16D-4C24-A439-6ECECBBA491D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3760c8ad7f945e6d72d385bc6f1d2577e06ed483","datavalue":{"value":{"entity-type":"item","numeric-id":4293047,"id":"Q4293047"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$EA803183-425B-476B-960C-548E69881044","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4a0f7744a4a9ea6d9f04f88ebef1a3c943f86363","datavalue":{"value":{"entity-type":"item","numeric-id":623937,"id":"Q623937"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$3B9F98D5-A989-4305-B494-17F5997E2C5A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0afc73b9ab65d1b8a9015398451301112d0cdd5f","datavalue":{"value":{"entity-type":"item","numeric-id":614968,"id":"Q614968"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q437401$F61B4717-8944-4C3F-9C01-76A33872C9F3","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"0ca982c7a26672afb3bcc0190df807ec9af46701","datavalue":{"value":"10.1007/S11071-011-0167-3","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q437401$F56EF297-036B-41AB-BF86-30A5D388564E","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"40ae87bc6f3fe7cc95df6aa925ebf2a68a818634","datavalue":{"value":{"entity-type":"item","numeric-id":1687351,"id":"Q1687351"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"845efe4fc68d382c715df66ecffaefe36c070b49","datavalue":{"value":{"amount":"+0.8952981233596802","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":"Q437401$2472CA60-F9AD-418E-977A-E164E6670BD8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"db97b619c1b27113522be311e9acd75a86f1dbce","datavalue":{"value":{"entity-type":"item","numeric-id":437257,"id":"Q437257"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ad8bb1924d7c546c47bcdcc735d48df610f93c75","datavalue":{"value":{"amount":"+0.8943614959716797","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q437401$F9C3196B-DB47-473A-AACB-7ACD747581CE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"90c101b1b0b2d445e35201ded91c7944b5f1ebe5","datavalue":{"value":{"entity-type":"item","numeric-id":1639871,"id":"Q1639871"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"84c6da51b41ede8d76c85b3068e474d4f4b98e3c","datavalue":{"value":{"amount":"+0.8686255812644958","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":"Q437401$F07BB863-38E3-4262-B245-54B9422BF567","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c3bb0b3477297346b85e4f2f48c586621eabf597","datavalue":{"value":{"entity-type":"item","numeric-id":1929014,"id":"Q1929014"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6db3167f76bd71eaf02719371bac2f9dd34b7b05","datavalue":{"value":{"amount":"+0.8257385492324829","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q437401$C80CBC75-3E5C-4B88-93EC-BC3A0E603A0C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1b96513cfb5fe30b8a8ce0335b543a4f72fd417a","datavalue":{"value":{"entity-type":"item","numeric-id":347283,"id":"Q347283"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4271e9ebd659a8261a563ac27f7dd02d97ab33e1","datavalue":{"value":{"amount":"+0.8229109644889832","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":"Q437401$5FCDF6DE-F2E6-4B47-9719-EB24487B8967","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:437401","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:437401"}}}}}