{"entities":{"Q6119736":{"pageid":13254043,"ns":120,"title":"Item:Q6119736","lastrevid":102564056,"modified":"2026-06-06T04:46:51Z","type":"item","id":"Q6119736","labels":{"en":{"language":"en","value":"Global analysis of energy-based swing-up control for soft robot"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7806866"}},"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":"Q6119736$0238FEE9-AB52-4779-BE4A-36E966BBD20D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"61fedb24c5151cd5b7bd653011e394b335eaec2b","datavalue":{"value":{"text":"Global analysis of energy-based swing-up control for soft robot","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6119736$4904814E-8180-4843-802D-6F16874F598B","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"0039f162457bebe9e9168bca2142daeb137ebeba","datavalue":{"value":{"entity-type":"item","numeric-id":242637,"id":"Q242637"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6119736$DB49F85E-0828-486D-9DFE-C7F0E0E41A2C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"eed1c7a3d2331008219429e73afd04db7caf37e4","datavalue":{"value":{"entity-type":"item","numeric-id":6119735,"id":"Q6119735"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6119736$3C15F69C-327B-4EAA-B0EB-679EB72ADB5E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6119736$98F44DFD-028E-4861-96AF-A321C3BF607B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"784010021c88b1a18d10951655f679e8f8b60223","datavalue":{"value":{"time":"+2024-02-20T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6119736$D6589BC8-BE0D-48AA-813C-3BE5D845A7B6","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6119736$F6CE27C2-F7A7-49B0-ACB8-DAFFD801399E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b089e38d825126ea7a8b1a1302755ec8c443c05e","datavalue":{"value":"37C29","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6119736$B7187D37-5C78-4820-BE87-A8B0C26680FF","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9bf4816a12b71ea90abf29ab3e62a2360856fe3f","datavalue":{"value":"7806866","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6119736$E650F360-5986-4FE9-987D-A60EF4EC0A02","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"83cf381edf844322fe8c84498aae7b9737446de1","datavalue":{"value":"underactuated system","type":"string"},"datatype":"string"},"type":"statement","id":"Q6119736$C9588081-BF4D-4208-98C7-1893651F63EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4c78b9e613a9c703b11bdc7ed1c3987935f586dc","datavalue":{"value":"soft robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q6119736$BC56469E-E9AA-4226-AD23-674B4E8E44C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b16d1d7bac793e32cb686abc2198671c80112f28","datavalue":{"value":"constant curvature","type":"string"},"datatype":"string"},"type":"statement","id":"Q6119736$567B92FD-EEA6-4D1B-BC1F-801D47A23F45","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8b646c159a134954035941548367b9a6a6060312","datavalue":{"value":"energy-based control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6119736$C123B8B8-083F-4AF9-B33A-E6977DF7254E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"eb923f0fcbb59f1bc4078de2bd4f2c4bf6b6116c","datavalue":{"value":"swing-up control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6119736$7865D725-510F-48A5-A1EC-EB0324049212","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d4589b31bfce9701c0a3bd790942456958d739b0","datavalue":{"value":"homoclinic orbit","type":"string"},"datatype":"string"},"type":"statement","id":"Q6119736$3510CF3E-C91D-4C13-96E5-A06214901CBE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"82d34d07dc472b8dfcad2e6dca323f0e671d21fa","datavalue":{"value":"closed-loop equilibrium point","type":"string"},"datatype":"string"},"type":"statement","id":"Q6119736$4125913C-3D0E-420D-83A1-4C812E14EA99","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6119736$F087FFDD-083C-4946-BA2C-5C3D2BF24E65","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"306aa94db10a1dbde63da29c27156e90ca0393d3","datavalue":{"value":{"entity-type":"item","numeric-id":4507123,"id":"Q4507123"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6119736$33C9E05D-AEF0-4DE7-AC58-B49E9075D86F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6119736$2FAD85C4-EBAD-440A-AD83-8FF43991F17F","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":"Q6119736$662C0271-B917-433C-8073-EC2603B9257A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6f7cce4f3bba59bcb37cba658b250ba7c99c420b","datavalue":{"value":{"entity-type":"item","numeric-id":5433584,"id":"Q5433584"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6119736$C759E623-ADC7-46AD-84E0-7E6BE8DD4D4D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c445595f3e04b5f54ce6b1b5dd303e66846f5d32","datavalue":{"value":{"entity-type":"item","numeric-id":2835567,"id":"Q2835567"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6119736$3FBB7383-4C53-47EB-BD02-9E515A8F2778","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b27b1eb696c59f4a14d43040239281781d02287e","datavalue":{"value":"10.1016/J.AUTOMATICA.2023.111471","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6119736$F83D4E1B-1116-4029-91FC-86B0113EC87B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"50bf0eb94cd804406a6051406dc168da841ec4d0","datavalue":{"value":{"entity-type":"item","numeric-id":5433584,"id":"Q5433584"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0f92a7b847321609b3836d783e2ca3c1f02c9057","datavalue":{"value":{"amount":"+0.8227135539054871","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":"Q6119736$4C246608-B78F-4937-8C8A-FF1BB526B577","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"70e4a7b849f849e474d8021f5753c5da3277f00b","datavalue":{"value":{"entity-type":"item","numeric-id":1036663,"id":"Q1036663"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"76f72188770201eed70845023abfc2c99de6edc4","datavalue":{"value":{"amount":"+0.7827699184417725","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6119736$BDA7CE83-5A4A-421A-8F3C-873ADA4387BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bcef7b2aac3110a621d80fe366d49b47a7db3cf3","datavalue":{"value":{"entity-type":"item","numeric-id":4507123,"id":"Q4507123"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c7bfb97e8cb6889b3d9ef15b43b17cc81d0b3569","datavalue":{"value":{"amount":"+0.7564024329185486","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":"Q6119736$F97A77A6-7CD6-4CB3-BCCD-0BA0C8EF96CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7f09f7533cf460969b88577d1d4e2202993e6ac8","datavalue":{"value":{"entity-type":"item","numeric-id":3084173,"id":"Q3084173"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"450316865bb77c81f5e061639b2d14b0c2fcb77e","datavalue":{"value":{"amount":"+0.7503967881202698","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":"Q6119736$039F36AA-AF1A-43EA-977F-C335249AAB44","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b2c4c266f868c437548804c181f785caa0e64ed3","datavalue":{"value":{"entity-type":"item","numeric-id":1696781,"id":"Q1696781"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"028d9122dc7e1dc0f688b16dfecfed87651b12a8","datavalue":{"value":{"amount":"+0.749968409538269","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":"Q6119736$446E7543-7E5F-4791-9E31-AB08679086B8","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Global analysis of energy-based swing-up control for soft robot","badges":[]}}}}}