{"entities":{"Q6038855":{"pageid":13120601,"ns":120,"title":"Item:Q6038855","lastrevid":57210366,"modified":"2026-03-27T11:53:51Z","type":"item","id":"Q6038855","labels":{"en":{"language":"en","value":"Frictional locomotion of a radially symmetric tripedal robot"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7681490"}},"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":"Q6038855$C25AE0F3-50A7-4556-BF99-247326B7CC98","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3c40ebceae6bec55935363b14cccfd18110729cc","datavalue":{"value":{"text":"Frictional locomotion of a radially symmetric tripedal robot","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6038855$3979408B-491A-46D8-83FC-E0CB5FD1E8D5","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"36ba932ef4ee72be33676f0a43b1eb652f7d090b","datavalue":{"value":"1521.70009","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6038855$6EF1DC33-0433-44D3-9557-8A217A63621E","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2ba23e4d24b024ae9b3e8260674e5da073c1d2c0","datavalue":{"value":{"entity-type":"item","numeric-id":6038854,"id":"Q6038854"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6038855$5FE3C1DA-C442-4DA0-B944-9B768BDE7433","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1fe831285fd31f893de563508f3f89cc222c9685","datavalue":{"value":{"entity-type":"item","numeric-id":2083204,"id":"Q2083204"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6038855$F80B1253-C7E6-4C4A-9612-DB62675A580C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"36124365fee97394b6219c955681316f63a421f5","datavalue":{"value":{"entity-type":"item","numeric-id":167733,"id":"Q167733"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6038855$66C7124A-F21A-43EA-8228-ED286234DD18","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c36c99a291281a05b640834d37d738e768022637","datavalue":{"value":{"time":"+2023-05-03T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6038855$6E5C596C-11FC-4ACD-8136-441AE9D995C6","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6038855$4FA4FB87-E76E-4482-8DDF-09A740FF4A52","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6038855$C77A919A-0B30-41D0-99C9-7487E491005A","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"fe351adf5e5ca4af301175b2afd54d4e486f3428","datavalue":{"value":"7681490","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6038855$4791BBA0-5CEA-4695-906C-44A40E51D670","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c1a21d36e685efe043f1bad126853e1d854be2e5","datavalue":{"value":"gait optimization","type":"string"},"datatype":"string"},"type":"statement","id":"Q6038855$B3A03ACC-28F7-4378-A466-23F8F4D6A753","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2001baa8b06d66d1faf2d8dfcbc8b3cf0c82a3a2","datavalue":{"value":"phased control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6038855$C28B0846-A015-43CF-B2CF-3E9482590A68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"14a6728e50cbaca75cf287bc48ae14f636315ae3","datavalue":{"value":"translation","type":"string"},"datatype":"string"},"type":"statement","id":"Q6038855$A382E2F2-D736-47C1-AB3A-9B3BA8861B6C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"086e460855e38352738b7bb2d98a987f7b4064c4","datavalue":{"value":"rotation","type":"string"},"datatype":"string"},"type":"statement","id":"Q6038855$890E953A-F613-4A56-84B3-A007E9903979","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"565ea5e946c8ae1e9a8679b63b7ff66729ad59e4","datavalue":{"value":"time-varying normal contact force","type":"string"},"datatype":"string"},"type":"statement","id":"Q6038855$E0746B72-264B-4BB2-ACE4-934FEF0BD5E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"48d526cc062a7adf792d73718762b7ebc375eacd","datavalue":{"value":"nonlinearity","type":"string"},"datatype":"string"},"type":"statement","id":"Q6038855$220CB2AA-4CBB-48A7-AAE8-17A2F84894AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a3d38109cd60ea771006689902083c1ec283fcbb","datavalue":{"value":"cyclic time-varying limb length variation","type":"string"},"datatype":"string"},"type":"statement","id":"Q6038855$08A0811C-9F50-419D-93E8-17F6489AE6DB","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6038855$CE117BEE-166D-459A-B49E-07CF40482FAF","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"6845cc6874c524894938fd49825bbaeb39354e72","datavalue":{"value":"https://doi.org/10.1007/s00332-023-09905-1","type":"string"},"datatype":"url"},"type":"statement","id":"Q6038855$B6756E88-C7D8-41E3-8C5D-965B903FF15F","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"4e24d2229512bd0c2ceaf0e3021a7c0516bf4470","datavalue":{"value":"W4362604319","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6038855$0D01C1EA-0DC5-41ED-AE43-4ADFBA64CEBD","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"f09ba38c072774fe4e9640da1fb791b3fc70e364","datavalue":{"value":{"entity-type":"item","numeric-id":4836092,"id":"Q4836092"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6038855$114F2633-3296-4F7E-86EB-FE90524AF1DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5f311f741cab588261e5b255ffca7dc1af17300b","datavalue":{"value":{"entity-type":"item","numeric-id":1286744,"id":"Q1286744"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6038855$961078BD-7DEC-47A9-815E-9FF9D5A16B74","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6edd11d8a3296173718c78ba42f44b73957ccdf1","datavalue":{"value":{"entity-type":"item","numeric-id":335680,"id":"Q335680"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6038855$5FD98C3A-1E26-4AFF-AC10-C9C29B0363F5","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"70a730849aaf2a2f34c2037de848f97ab5127ede","datavalue":{"value":"10.1007/S00332-023-09905-1","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6038855$EE2D1850-2DFA-4B82-965E-402EEC16F696","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"949e123aff8d566c7ba5bc0c1f7089a115554721","datavalue":{"value":{"entity-type":"item","numeric-id":2568167,"id":"Q2568167"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c1954fd0037798ddb2abd06893e19ca04e4cc739","datavalue":{"value":{"amount":"+0.7461507320404053","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":"Q6038855$4892154F-E68B-4AB6-ACF5-E4C16A55007B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"68546593525716b2e269f0c978730f91a0f04f77","datavalue":{"value":{"entity-type":"item","numeric-id":2681336,"id":"Q2681336"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"534041c281e20e326795110e8d076af43b99d666","datavalue":{"value":{"amount":"+0.7289071083068848","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":"Q6038855$2DE2CCFE-269E-4278-91BF-C434CD7B24DF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f9e1631ac198466443498b779f9c38737b1f6393","datavalue":{"value":{"entity-type":"item","numeric-id":2351089,"id":"Q2351089"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"93e90b814656834e1a38b628bd2aaea58d5c21b8","datavalue":{"value":{"amount":"+0.7286578416824341","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":"Q6038855$4C3E71EB-7D76-4490-ACA9-527185A75052","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"96de346ca05ca5322f97595bf10c16f6a7da8b8e","datavalue":{"value":{"entity-type":"item","numeric-id":5112957,"id":"Q5112957"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"241ae8576dc076257e82ed1677195a3f48527c6f","datavalue":{"value":{"amount":"+0.7129209637641907","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":"Q6038855$2BA49C00-0BA7-4125-B4AB-53F0407522AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a85ef2f4e976e9a0479789c7d209749b3fc372c0","datavalue":{"value":{"entity-type":"item","numeric-id":2430832,"id":"Q2430832"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2fb3eabb4b6beea3eddc5e12bab73be74817f3b3","datavalue":{"value":{"amount":"+0.7118670344352722","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":"Q6038855$0011BD90-0B10-462C-BCE7-EFBED44617B1","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6038855$3EC6E896-DA47-457F-9C59-D1FE8D908C28","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6038855","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6038855"}}}}}