{"entities":{"Q6063754":{"pageid":13197910,"ns":120,"title":"Item:Q6063754","lastrevid":57208950,"modified":"2026-03-27T11:48:17Z","type":"item","id":"Q6063754","labels":{"en":{"language":"en","value":"From underactuation to quasi\u2010full actuation: Aiming at a unifying control framework for articulated soft robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7776249"}},"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":"Q6063754$FE9AF6A5-830F-4830-AF21-B9F258A38300","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"484839c9b2b53c62bccfe65335d15bfb49c8da52","datavalue":{"value":{"text":"From underactuation to quasi\u2010full actuation: Aiming at a unifying control framework for articulated soft robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6063754$D211B277-BE9A-40E5-9394-F41BF89FC50F","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1a8b9eff8e68037205ecc530d6fc3436de89df2c","datavalue":{"value":"1528.93160","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6063754$0404DB99-FA59-4808-8A26-F3159F74F83D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"14a15418ba65aa5a4961ff8aea4862889d46a1b0","datavalue":{"value":{"entity-type":"item","numeric-id":6063753,"id":"Q6063753"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$6CF80A22-F2FF-44C8-81A2-72C90F7E8563","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"cad8fb0f82ddd7482e47807bb8c32ad227d5c8dd","datavalue":{"value":{"entity-type":"item","numeric-id":2409462,"id":"Q2409462"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$56B6C6E6-0F22-4D59-86EA-51D63D70F1BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ea19b6de8583a6572dc5dd827136527e20e3c4fb","datavalue":{"value":{"entity-type":"item","numeric-id":2409464,"id":"Q2409464"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$79D71F81-2CE6-43C6-BFD4-E6B2A613F3E9","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"50b8674a675fb6cb1ce5f58b071e4afdb153e2c6","datavalue":{"value":{"entity-type":"item","numeric-id":2710025,"id":"Q2710025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$D43FDEF6-68C0-4320-87C2-495BC8242465","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"066d1477c8c2dc8167e035c2af02788021afe714","datavalue":{"value":{"time":"+2023-12-12T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6063754$7F98D18E-319E-4E8E-872E-401E3136F7C2","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6063754$279ED072-1D99-4437-8F81-55E38F9473BA","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"b07b87d40db728a9de040f7829e49df0c0476ed1","datavalue":{"value":"7776249","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6063754$C53B822D-816D-46BF-B072-8109C91FBAD1","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"960fc0c758470d5194eed1ddd4e08c3c6a3258cc","datavalue":{"value":"robot control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6063754$3A6452AE-85B1-42CA-B127-BAC87E0360BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"80b405c657ba2989289335a6d3caa10d66e351b6","datavalue":{"value":"joint elasticity","type":"string"},"datatype":"string"},"type":"statement","id":"Q6063754$D9B117B1-138E-4A9B-9599-B3D579DFEB5B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8b76d73026261b33d43462e8d2d338ecf11d4a0b","datavalue":{"value":"passivity-based control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6063754$A22F4AD6-D1FA-4528-8433-9661C5F9691A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"530eab58d9ced084ea8bc1b700d71485a19e0226","datavalue":{"value":"impedance control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6063754$9284B06F-39C1-4833-8BA8-B2E65B2CB53E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"83cf381edf844322fe8c84498aae7b9737446de1","datavalue":{"value":"underactuated system","type":"string"},"datatype":"string"},"type":"statement","id":"Q6063754$B2E7C895-76E0-41B4-80A3-0849E1D2CC5E","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":"Q6063754$A4D9E99E-5661-4F8C-B29F-1A800273AE1C","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"85591e4f04d6d570862c9d6c263922a0fd4dc2ee","datavalue":{"value":"https://doi.org/10.1002/rnc.6102","type":"string"},"datatype":"url"},"type":"statement","id":"Q6063754$CC81D450-B587-4D56-AA0B-458F790007F2","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"6b1cb28cdb33a47c31ce06921c8935503207f2ae","datavalue":{"value":"W4220840302","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6063754$B822E090-ADDD-4A8A-AC5B-08426C1EDC14","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"3f41691a5ecb1c79e5c8aa0dc482a85d957498b2","datavalue":{"value":{"entity-type":"item","numeric-id":3929603,"id":"Q3929603"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$7AF5C436-0ECB-4A69-B556-25DD0BD939FA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1604b7effb01642ba1525c0ffa74aab18ac5ae74","datavalue":{"value":{"entity-type":"item","numeric-id":3795566,"id":"Q3795566"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$9628F34C-7443-46B9-8075-8A15D389883E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e7a5a3efbcd6b4fb873eda5984f54392206c3111","datavalue":{"value":{"entity-type":"item","numeric-id":1899575,"id":"Q1899575"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$F19F044B-DDE1-470A-BB3D-5C1A86E15284","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":"Q6063754$1F60D17C-43CC-44FD-89DB-90A41ACA75C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a0c946d69f92d0ff920a7d5d69e8c0ba887184ce","datavalue":{"value":{"entity-type":"item","numeric-id":2730320,"id":"Q2730320"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$F9669541-AA96-4949-A0E6-D6CEA3739553","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"35cdae5cacf7d4f754ca7d402364a3593b9cf028","datavalue":{"value":{"entity-type":"item","numeric-id":4540212,"id":"Q4540212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$11E51559-096E-4C57-AE8F-40ED74634FC8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2146437f7fe10ea99f27930aff2f397bf658311","datavalue":{"value":{"entity-type":"item","numeric-id":5267101,"id":"Q5267101"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$2E3F4E15-781B-444B-949C-A9C07B37300D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cad23237a63103daacb9fd1876408892d225b94d","datavalue":{"value":{"entity-type":"item","numeric-id":504922,"id":"Q504922"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$94B56CA1-53E7-47F7-B26E-70665FD268E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3b941a95f57f3ff4e6659235bed67c23cf081a0a","datavalue":{"value":{"entity-type":"item","numeric-id":3847149,"id":"Q3847149"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$0EB9CDC9-3C3F-4ECA-B301-70F28C78E2D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d35e036f000816db92c2f7d633ba2a27b5a6997b","datavalue":{"value":{"entity-type":"item","numeric-id":2478098,"id":"Q2478098"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$008AD96A-F389-4B80-8259-3E30748603C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4701cc1c11bee4308d6b002878e93a215277448d","datavalue":{"value":{"entity-type":"item","numeric-id":1613164,"id":"Q1613164"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$9C80D190-805A-4D3C-AADC-40F84B2A8413","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d4a87ef0c3cd2d19d3d1f354ab2c35bfe1ba9809","datavalue":{"value":{"entity-type":"item","numeric-id":3815963,"id":"Q3815963"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$116C564A-3CFC-43DF-9E00-8557CDF4A73D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b737c84c943b9162d79363ea1f1085fe97f8cd92","datavalue":{"value":{"entity-type":"item","numeric-id":4293055,"id":"Q4293055"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$21B8027E-28BA-4B7B-A3B8-7AD9FC16AA60","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"009be919523aaccc27a401ca7624fae165e2bd61","datavalue":{"value":{"entity-type":"item","numeric-id":3986173,"id":"Q3986173"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$BEEB65C0-2B83-4F85-B3F6-13305F202343","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"42d803a73e206f891344255645f00f58f7757dd1","datavalue":{"value":{"entity-type":"item","numeric-id":4795573,"id":"Q4795573"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$A984713D-17C0-4ACC-85EC-072EBE010D16","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"138fcb6fd568edb6ff654ce8adf61403d41b55de","datavalue":{"value":{"entity-type":"item","numeric-id":1240840,"id":"Q1240840"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6063754$27C68AA8-C516-40BB-867B-D1FC7131CACD","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"ab42b98353495d1a75a98bc4e1c02e11d805b10c","datavalue":{"value":"10.1002/RNC.6102","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6063754$66AAC8D0-5111-4CE1-A0DC-C1F77CD5837D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"319ccf01ff413bf700b7cd66fd497a75f63e2b50","datavalue":{"value":{"entity-type":"item","numeric-id":6173505,"id":"Q6173505"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5c3949fb258636326d0aa22aa843f7b44acdec8c","datavalue":{"value":{"amount":"+0.6953795552253723","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":"Q6063754$7DBEA36B-DEA3-48F5-B46C-9B6B6CF3DD59","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"587a58f26cd33a06a83bcb1a4dfa9cb918de5194","datavalue":{"value":{"entity-type":"item","numeric-id":6091589,"id":"Q6091589"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"74b1c6e699f202590c3141a13e13f51484b017f5","datavalue":{"value":{"amount":"+0.6945909857749939","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6063754$D6712260-3B42-4DD0-82D4-30DC469B79FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7ec8e0a5100ca34ea5540a8dd39ab7ab68feee00","datavalue":{"value":{"entity-type":"item","numeric-id":6085137,"id":"Q6085137"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"60f1e06d256d61feef46e42563796215f45a6cdc","datavalue":{"value":{"amount":"+0.6785011887550354","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":"Q6063754$21AAF9A1-3096-4901-809F-05118E121887","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a4d764a2ff1f56a0578f8504039c2cee73807a6f","datavalue":{"value":{"entity-type":"item","numeric-id":5302239,"id":"Q5302239"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b807182d2506f79e0c649010b2dbbd09f61dcb1d","datavalue":{"value":{"amount":"+0.6685348749160767","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":"Q6063754$67B310CC-B367-4E3E-B1DB-A9633BC61383","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":"Q6063754$5FAB8315-EC3A-4E97-9253-FC6205363932","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6063754","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6063754"}}}}}