{"entities":{"Q5261498":{"pageid":7291066,"ns":120,"title":"Item:Q5261498","lastrevid":91980365,"modified":"2026-06-05T00:33:46Z","type":"item","id":"Q5261498","labels":{"en":{"language":"en","value":"Using model-based optimal control for conceptional motion generation for the humanoid robot HRP-2 14 and design investigations for exo-skeletons"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6455593"}},"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":"Q5261498$8ECBED87-A277-486E-B074-AF7A103898E2","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"725bf21b8e5d02c095bc43f506e1565c02d154fc","datavalue":{"value":"1318.68005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5261498$DEED1C46-E53F-4869-9B43-B47D17C3A7D7","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f4c3a37d9cc047e24f8e91644ad0e78edd9441de","datavalue":{"value":{"entity-type":"item","numeric-id":5261497,"id":"Q5261497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5261498$D827A9F3-4EF4-4A07-82B5-75B2F77A079E","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"36939684543aa00214e950d282e803789dfc1071","datavalue":{"value":{"time":"+2015-07-03T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5261498$287B50AF-6B9A-41B6-AD5F-E8BFFC1FA084","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"468a2012a47c7216da86ac0b556781c5e8de7525","datavalue":{"value":"http://archiv.ub.uni-heidelberg.de/volltextserver/19041/1/Dissertation-HenningKoch08012015.pdf","type":"string"},"datatype":"url"},"type":"statement","id":"Q5261498$4FCC8A63-D2C5-4E59-ACCE-5D65B66113D7","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"24aafcf24a21bd70cd3b62d3f5f72a6d0d82d816","datavalue":{"value":"68-02","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5261498$58903524-34FB-4044-8365-0C0D6D3985EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5261498$84A955CB-1E30-434A-B961-CE655E63C7E3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7d549dacfd75da173dfbf0cca36305f043cdcb80","datavalue":{"value":"49N90","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5261498$10140DEA-2C3A-4BBF-82DA-E276E13A74DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5261498$E5E760DD-E4B1-475D-9822-947F357F68C2","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"741dd920ba1851dd0173194d4a6b308f99407feb","datavalue":{"value":"6455593","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5261498$18BAD78C-CD81-4176-BCE1-B7C927086386","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":"Q5261498$9BE14B88-F6E9-4F11-8D7E-9AA0F6E22CB7","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8170460336561bc0fb882fbb83a2577de30cb522","datavalue":{"value":{"entity-type":"item","numeric-id":3516982,"id":"Q3516982"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ccec4af09c185a1f8b5e6da6f83fc4035012fe88","datavalue":{"value":{"amount":"+0.7716676592826843","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5261498$A464988A-1FAF-4EBF-AE95-344B5D52399D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d13748d12b1fcf0668db0c9db61f797acd10bfea","datavalue":{"value":{"entity-type":"item","numeric-id":2914915,"id":"Q2914915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2e47cb13ec5adb4fd79dfa1878a30fc7f7dfd958","datavalue":{"value":{"amount":"+0.7561904191970825","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":"Q5261498$4906EF9D-6EFE-4903-AA89-9715D59A2FC4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"aa6a5f4e2b156910a66cd60ffdeacf1a651773e1","datavalue":{"value":{"entity-type":"item","numeric-id":1188622,"id":"Q1188622"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"32033091ff13195b3e44d8fd5c8f70ee85c8afd9","datavalue":{"value":{"amount":"+0.7501357197761536","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":"Q5261498$340460D3-2395-44B6-B6B8-12EB52A377BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7092d274c4d7c8e6857637b0efc1ada0fa809ff9","datavalue":{"value":{"entity-type":"item","numeric-id":4972898,"id":"Q4972898"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"82186069710a8b5868d59de5bf07559fb2d55f3b","datavalue":{"value":{"amount":"+0.7477790713310242","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5261498$AD49C0D1-8E4C-48BB-BDC6-AC6F4FB28C39","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"977ab6f69b5241e7710369c5d12c70ee2766b3af","datavalue":{"value":{"entity-type":"item","numeric-id":4635779,"id":"Q4635779"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8d3bd005d9bb65a628c2b631a55d8c61eea2a190","datavalue":{"value":{"amount":"+0.7389813661575317","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":"Q5261498$F2E26DD4-427F-40F0-8B32-B75C5D4785C9","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Using model-based optimal control for conceptional motion generation for the humanoid robot HRP-2 14 and design investigations for exo-skeletons","badges":[]}}}}}