{"entities":{"Q4698206":{"pageid":6727783,"ns":120,"title":"Item:Q4698206","lastrevid":46383507,"modified":"2025-12-24T16:34:09Z","type":"item","id":"Q4698206","labels":{"en":{"language":"en","value":"Contril of rigid\u2010link, flexible\u2010joint robots:a survey of backstepping approaches"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 755082"}},"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":"Q4698206$A43C3802-191A-44B3-833A-6D3A7790E30E","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"cbe716bb0749214d8a8c33d4300125b3f7b2e2c9","datavalue":{"value":{"text":"Contril of rigid\u2010link, flexible\u2010joint robots:a survey of backstepping approaches","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4698206$E9E8BCF0-D293-4576-AA58-3CC1009ABBCB","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"80837b976c034e9a6b59d159bc5354afbdefbcaa","datavalue":{"value":"0819.70018","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4698206$659FB643-0563-42FF-8562-F6D0A9FA1627","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"dda009795a82ae48d4e5e7eb5d39617e16816998","datavalue":{"value":{"entity-type":"item","numeric-id":4291132,"id":"Q4291132"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$22AAABEB-5E96-4082-9C0C-3D40E8BF6449","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6bb329190d0464610ee552d948bef03fbd8928d5","datavalue":{"value":{"entity-type":"item","numeric-id":629076,"id":"Q629076"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$855A6076-2CA6-4F88-8C86-D3ED091602C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"02d9f1c1c253fe03b95b06833626f7f60d98dc53","datavalue":{"value":{"entity-type":"item","numeric-id":434461,"id":"Q434461"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$B149EA78-7E77-4FEE-A1A3-27A915EFA544","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":"Q4698206$61CDB091-D2DA-4D6E-BD58-6ABC1999E4D0","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"8b6f4618f07ae4c1833eefdbdc0d1b024b3b673c","datavalue":{"value":{"time":"+1995-05-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4698206$71A3FE4B-8A89-492D-9A06-C5DF9073A1B9","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4698206$EACAFBC9-EE47-47EF-AAEB-98B8C2AFEB38","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4698206$0049EBFC-7547-4960-84B5-CBEB22BCEC59","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4698206$A188AAD0-AF48-4822-9C0A-13B3EF850BA4","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"aace765deb7dfac9542f3cc1460c5d744dc27fa1","datavalue":{"value":"755082","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4698206$7500A47E-A7B5-4F10-A5EC-76EBABCC72E0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"35ab541d937810dbca3216109470230ee4eb74fd","datavalue":{"value":"globally stable trajectory tracking controllers","type":"string"},"datatype":"string"},"type":"statement","id":"Q4698206$86F6AF1C-761E-4976-816D-52CF9111F171","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f6b170fd1afccddcd2d5ae09803d3955e7f4694b","datavalue":{"value":"knowledge-based controller","type":"string"},"datatype":"string"},"type":"statement","id":"Q4698206$E39E530C-2504-448C-AD64-C34D7E93EAD4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6271f9e93d36404b1b2413cf34bff4a16c36eb49","datavalue":{"value":"adaptive controller","type":"string"},"datatype":"string"},"type":"statement","id":"Q4698206$75C4F82F-FD4B-4F72-A745-1645F87168F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"46f58eee573f5b4fcdf664485bb34201b1c93070","datavalue":{"value":"parametric uncertainty","type":"string"},"datatype":"string"},"type":"statement","id":"Q4698206$224E8EC6-262C-43BE-A3A3-F80C6E760C30","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":"Q4698206$2E7A9CBB-E3B3-4AC9-B0B4-E5EE52FDDB7E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"adb22cdd86675c306d481c4a8b56c80b1d7b6252","datavalue":{"value":"https://doi.org/10.1002/rob.4620120305","type":"string"},"datatype":"url"},"type":"statement","id":"Q4698206$13D703DF-465F-40EE-A9CB-FAFE6E7FDE08","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a45398851ee1a1c0fc93c3504ee9675e522e69fb","datavalue":{"value":"W2117086981","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4698206$AD904D28-C1C7-43A4-91D4-7595BD6AD366","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"78e2d939e1e794a361b3c98c3e3b972cfe681aa2","datavalue":{"value":{"entity-type":"item","numeric-id":910372,"id":"Q910372"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$FD5A0EEC-65C2-4BC7-AAA8-00A57C3450F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"76e08de680e3a0672856c60eaf7d8fb51d9c9d30","datavalue":{"value":{"entity-type":"item","numeric-id":5202594,"id":"Q5202594"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$7797E68E-C1A4-41EC-B43A-84D0808BEC3A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"14373f637e3e8ae9d91614751f3a1b139788da5d","datavalue":{"value":{"entity-type":"item","numeric-id":4274828,"id":"Q4274828"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$5CBEDCA3-1425-4EA0-98A4-952BD4008DD1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"30592acb2e3d84885a842a5079951d20a9613d6e","datavalue":{"value":{"entity-type":"item","numeric-id":807551,"id":"Q807551"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$6F33DD61-64AD-4EBA-85EA-E1F1639F915A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"60eeea80fba36c2412f1e611047f1f52938cb2c0","datavalue":{"value":{"entity-type":"item","numeric-id":4272950,"id":"Q4272950"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$8A544521-72A8-4FC4-9F94-703E6D9A6872","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"71f7757a4f18e24d005eb7bf608117f4879b224f","datavalue":{"value":{"entity-type":"item","numeric-id":3989592,"id":"Q3989592"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$6891E69B-419F-4BD4-838A-55D108323F9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"658f57b1082e9c6e95506b2565d47de880e4c6ae","datavalue":{"value":{"entity-type":"item","numeric-id":1802511,"id":"Q1802511"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$5B6B12C9-8246-4FE3-A64B-9C314E552093","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":"Q4698206$4FB4B6F5-528E-43F9-A4DC-89397901E956","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"94184274da6d0b7b2d029107f9f1df25ad17240a","datavalue":{"value":{"entity-type":"item","numeric-id":4001521,"id":"Q4001521"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4698206$1F9693FD-ABF7-4916-99FE-87D3F877B80C","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"841ace84633e2a59d4d339ad166ca8253b20812b","datavalue":{"value":"10.1002/ROB.4620120305","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4698206$E8C3DD99-3A00-4E80-B4C1-ED70EDB689CB","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"841228f18f8aebe107e01341410c326eeb66c70b","datavalue":{"value":{"entity-type":"item","numeric-id":4272950,"id":"Q4272950"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e3ba098c185dc92fd9f9382fe5a5f1448308add9","datavalue":{"value":{"amount":"+0.8424749374389648","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":"Q4698206$5E8B7733-3988-4C89-B008-EC6DB2E4C508","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bea9c14845c846e12c0870b2a157e20bfab26002","datavalue":{"value":{"entity-type":"item","numeric-id":1368028,"id":"Q1368028"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"971add8e22f229baa207bfc82041f4ee2cdaa502","datavalue":{"value":{"amount":"+0.8375001549720764","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4698206$FCEBEF12-DE12-4A3D-B52F-CCCFA408D5AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7cbafce543f236d7232470ac4defcc4488df44fa","datavalue":{"value":{"entity-type":"item","numeric-id":5202594,"id":"Q5202594"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0122fe88786976a4fda31303418a6b41b4c5beb2","datavalue":{"value":{"amount":"+0.8314895033836365","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":"Q4698206$1C656744-2768-4FE3-A1E4-FD94882494E3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e1ead2db0918dccef2459aa1a2db14ad945b36bb","datavalue":{"value":{"entity-type":"item","numeric-id":4847331,"id":"Q4847331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e115f612dce36f4cd614eb62b6002155459b4d7b","datavalue":{"value":{"amount":"+0.8147384524345398","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4698206$C4AA7CD2-B986-4C3E-9C72-162E2C874B3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8c3d9695ab6ce32526ff49060ee495316bab606c","datavalue":{"value":{"entity-type":"item","numeric-id":4841491,"id":"Q4841491"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5ea4ce682ebafe986f10a8ce77b796e0f3ac5016","datavalue":{"value":{"amount":"+0.8094075322151184","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":"Q4698206$AA568213-3E7C-4547-A279-A90042396348","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4698206","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4698206"}}}}}