{"entities":{"Q5029112":{"pageid":7058689,"ns":120,"title":"Item:Q5029112","lastrevid":54223175,"modified":"2026-01-26T12:10:30Z","type":"item","id":"Q5029112","labels":{"en":{"language":"en","value":"Balance and velocity control of a novel spherical robot with structural asymmetry"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7472735"}},"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":"Q5029112$34DEAC3A-85B6-4E45-9F01-43472B222397","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d69ae27bd92be11a6b33a94361352b85903e460e","datavalue":{"value":{"text":"Balance and velocity control of a novel spherical robot with structural asymmetry","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5029112$BE78EBBA-DA1F-44A2-96B5-66B35309640D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"e5f364550bf1edc538fd1b59f321709bf56584ff","datavalue":{"value":"1483.93451","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029112$2BE22B02-73B4-405E-AEA4-D9B1A405238E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"c9f49f5963d7ffab591a5e6003fa582956983d55","datavalue":{"value":"10.1080/00207721.2021.1933253","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029112$DAFC44DE-99FA-48F0-8378-D6CBF2AD7D28","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"08d801066f3f4fa2f4dcde6b63c8b7f7958df8c6","datavalue":{"value":{"entity-type":"item","numeric-id":5029111,"id":"Q5029111"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$52AE5E4C-4BC5-40A7-97AB-32BBF8B7DB1A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3d595e9330abb7ae4d7091b734dba56feb5f1560","datavalue":{"value":{"entity-type":"item","numeric-id":328005,"id":"Q328005"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$C8226B96-D1BF-465A-AE68-44114F03B007","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"664114a618a048378633452bdcb8062dd1c60d77","datavalue":{"value":{"entity-type":"item","numeric-id":250007,"id":"Q250007"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$B3630D6C-7BBB-4F06-BCD7-5E1C4844CCD7","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"9d1ee80fedd18ed506519a2ef8030c0d60d05ac5","datavalue":{"value":{"time":"+2022-02-11T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5029112$606843EB-8DCD-4775-B11E-5E300CD913EA","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029112$7CB15D6D-EC9F-4295-A57F-EAEB8EF1E43E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029112$8ECD5F0E-AEF1-4CF3-84CD-C556989027AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029112$E71F8FF0-C2F8-4B81-AFA9-58EB99D82E78","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9ccec5572c75a78a28f7535df6a69ed23b247ea8","datavalue":{"value":"7472735","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029112$8A1E8CFE-FB83-4659-AFDA-6BE458704F51","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"22145920359610340f586ba0de66933a907cebac","datavalue":{"value":"spherical robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029112$A3633328-5550-4619-8C90-448E029B3B8B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f4313ae788428c1e61bd3299597c30500258dd7b","datavalue":{"value":"structural asymmetry","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029112$4738964B-6C0B-4B63-BB49-38806B715FDF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ab379b7ed0869913e2d290ebade39b09c4e6eda7","datavalue":{"value":"underactuated subsystems","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029112$C7A1684B-0DB9-483A-950B-8763EB5292AD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f57c1b02458defbda1d01caa1b6e24850f391d21","datavalue":{"value":"adaptive hierarchical sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029112$DFC7BDE3-0FEE-4788-9DBD-811BCF0EEA81","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"499a62c36174c86a60dcd930757241b334fd6253","datavalue":{"value":"balance and velocity control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029112$6F1DC034-57A1-4AE4-916B-6630C655F162","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$BDF4F5A0-3D61-4CB6-8922-6CE280978FCD","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"06660f299e1da5d5cc02ab13439e608ea8926c34","datavalue":{"value":"https://doi.org/10.1080/00207721.2021.1933253","type":"string"},"datatype":"url"},"type":"statement","id":"Q5029112$E8CC97DF-28D6-4516-9CF2-11EEAD4220DE","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f707681508df68ed2641dfed7099ed75a241897c","datavalue":{"value":"W3167139527","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029112$E78DE6AC-663C-4AB7-BB95-1589EF73BF3C","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"5bd049b3b85def4b55e2ed2021a0c8827fd2fc50","datavalue":{"value":{"entity-type":"item","numeric-id":5657281,"id":"Q5657281"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$6733FD37-25AB-4EE0-BBCA-78A60E9CB9E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4d44875d5771a77706b6ede5e45d39966abed851","datavalue":{"value":{"entity-type":"item","numeric-id":2977610,"id":"Q2977610"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$080E928B-7B2A-4997-B597-CE86D42D5BA1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5177d46203f338f3580706c30b18c094d0987f81","datavalue":{"value":{"entity-type":"item","numeric-id":5027553,"id":"Q5027553"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$9F9A6B65-3898-4B72-9BCA-6B535B89C492","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b3c4ad802b56e933970bb4d82509bd12f1226a05","datavalue":{"value":{"entity-type":"item","numeric-id":4974172,"id":"Q4974172"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$9F81EB7B-0E72-40C8-9C42-6330DD95CE19","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a3e25a3a34082d03d5b8d43d6578984edb14cfa9","datavalue":{"value":{"entity-type":"item","numeric-id":667788,"id":"Q667788"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$1626CCFB-6192-4C72-A2BA-648B9DE971B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3629338a1b733c632f365b52ea4e76d7f5a2638b","datavalue":{"value":{"entity-type":"item","numeric-id":5026864,"id":"Q5026864"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$C1C8167B-1ADA-4D8B-A775-8ABBF2DACBA9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ca3de19b776826efc0cdd17356921a958485f06f","datavalue":{"value":{"entity-type":"item","numeric-id":1641072,"id":"Q1641072"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$0DD106CB-A384-45A7-9B89-EA30DDD8F172","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4389426239718d4e6d58d5cfe7349730b6d28601","datavalue":{"value":{"entity-type":"item","numeric-id":1679873,"id":"Q1679873"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$C3A76402-094B-42FC-99BE-782FA12EC0B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e3e47bd303bf84febaa72c177c51c00d0e831c3d","datavalue":{"value":{"entity-type":"item","numeric-id":4408069,"id":"Q4408069"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$44BE308E-1947-4C65-9158-18976C6BC21A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7dd10ebb3300cc13500effd9a3f417fcf0dbc91e","datavalue":{"value":{"entity-type":"item","numeric-id":2792810,"id":"Q2792810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$2B2E99CF-56DD-4D4B-86AB-E77C754A9FA8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b69809811fc83906ee57cb4ed391d6b3dd46a392","datavalue":{"value":{"entity-type":"item","numeric-id":5363163,"id":"Q5363163"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$F4512A1D-DA31-4FF9-8F35-B3145A30A82F","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"7d28953bd0f0c2d8508713f8e55254124cfc990d","datavalue":{"value":{"entity-type":"item","numeric-id":6544798,"id":"Q6544798"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029112$252E864A-6477-4D83-A682-A63946F848AC","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a1a9d0656f0e0bbdba6d365c8a7c3e29092c286e","datavalue":{"value":{"entity-type":"item","numeric-id":2792810,"id":"Q2792810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"93b4ed4ab87335a7b7376929cb26cd94d17c16c7","datavalue":{"value":{"amount":"+0.7971493005752563","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":"Q5029112$6A4D65F5-11F5-4F3C-AB17-5C3B62EB9C1E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fe3bf1c833f0e50fd12a6fac2cca5b928191158b","datavalue":{"value":{"entity-type":"item","numeric-id":2263840,"id":"Q2263840"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"06bf0abdfb5c1d6e06b7458c9620a4321bcac00b","datavalue":{"value":{"amount":"+0.7795661687850952","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":"Q5029112$0776036A-EFCB-4C11-9289-D666DCB83046","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"69c39a52c245710f0cfef3a5889d8b7a8fdf96ae","datavalue":{"value":{"entity-type":"item","numeric-id":1722921,"id":"Q1722921"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8250a1f143c8b1e2cf4f938b3978f74214aef772","datavalue":{"value":{"amount":"+0.7680799961090088","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":"Q5029112$7CB6BE22-D90A-4FC6-8765-80C822730D5B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"21301655832f6ff95c329d823a28c6e3a1151518","datavalue":{"value":{"entity-type":"item","numeric-id":3187879,"id":"Q3187879"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"05db13c55af5189a805aa43d23c4783f259c7ad7","datavalue":{"value":{"amount":"+0.759711503982544","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":"Q5029112$376AFB68-17C5-4CAC-8E6A-A72E600B1CBC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6cd6611d24ec12cb078f171cb14f75f5b6ff49dc","datavalue":{"value":{"entity-type":"item","numeric-id":721998,"id":"Q721998"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"083a56eb4f02d46d7ad8a6f25d1880ab6e702ec6","datavalue":{"value":{"amount":"+0.7467831373214722","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5029112$E3CBA454-EED0-4109-99C8-5B936F2DC670","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:5029112","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:5029112"}}}}}