{"entities":{"Q6153834":{"pageid":13288181,"ns":120,"title":"Item:Q6153834","lastrevid":58718649,"modified":"2026-04-06T11:13:23Z","type":"item","id":"Q6153834","labels":{"en":{"language":"en","value":"Adjoint-based optimal control of contractile elastic bodies. Application to limbless locomotion on frictional substrates"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7820242"}},"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":"Q6153834$1AAF8A20-AC30-4B4F-9A9E-79B3421745ED","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b7c5fb107eb619ae057d33264b7ade42c0b75ac7","datavalue":{"value":{"text":"Adjoint-based optimal control of contractile elastic bodies. Application to limbless locomotion on frictional substrates","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6153834$09B606DD-3E04-4814-BCF6-B9B76DA5C962","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c93e47490a16f35e40f6917e10e0c3a806c9548f","datavalue":{"value":{"entity-type":"item","numeric-id":6084136,"id":"Q6084136"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$1D69FE97-F9F9-4E41-BA3B-34EE16ADD2BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8834169aa1d9b3f04859f916d857585c08d441c3","datavalue":{"value":{"entity-type":"item","numeric-id":839279,"id":"Q839279"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$28416B1C-499C-4C52-96BA-29132925E907","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8d99d5b3e3b4411be351a2e1d8fb351d749a0ba1","datavalue":{"value":{"entity-type":"item","numeric-id":168124,"id":"Q168124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$C224BD07-4B14-40C0-AB8B-6FE14D179126","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"ff1177dfc8a23bbfe8e90a2a236c53585620e61c","datavalue":{"value":{"time":"+2024-03-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6153834$2AA00609-1EBD-49C5-BBD7-FAA975A57AAC","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"7a87f8c55b5c769069863ee16cabf0a24bb29402","datavalue":{"value":"https://arxiv.org/abs/2307.14681","type":"string"},"datatype":"url"},"type":"statement","id":"Q6153834$759B9419-127C-4346-B558-79482C6A1470","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"f5fc2816db01d5d90675522f90a1dec22f5ce19a","datavalue":{"value":"92-XX","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6153834$D39B19A1-2DB4-41AE-BE5C-B27D7BF4D620","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"90dd39ee64c8c55e4a49bba9956eee4f79bfe456","datavalue":{"value":"74-XX","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6153834$4BCEE6B9-3907-4151-A3FD-40E255E97908","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"aa72c80e90939ded1c3a6975205da0961392e3e2","datavalue":{"value":"7820242","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6153834$80ECF96E-44F0-4FF5-9118-578E28EE681F","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"10e95fb14faecd561e1f481935b00493eabd4b97","datavalue":{"value":"non-linear elasticity","type":"string"},"datatype":"string"},"type":"statement","id":"Q6153834$CF07D807-7847-42A7-8C47-10FC48E201DF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"120777ea74176d40a7bd8f6365a91c8d7c661bed","datavalue":{"value":"growth model","type":"string"},"datatype":"string"},"type":"statement","id":"Q6153834$1F5AC3C6-0954-4F3C-95BA-80CE6D4BF156","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3ea858ed08d08275d5bf0acffed3cd6fe7de62fd","datavalue":{"value":"soft robotics","type":"string"},"datatype":"string"},"type":"statement","id":"Q6153834$AC9C3335-0495-4130-B363-CD0B3B17AEF3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e9adf68f46932f4bc9cfab160635abcff73dd2d0","datavalue":{"value":"limbless locomotion","type":"string"},"datatype":"string"},"type":"statement","id":"Q6153834$8FEE8633-90EC-4B59-8208-B13B403560ED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6153834$A416ACD8-CB4F-44C2-A1A1-21D5AC3A8FCD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a6446c3dd0326b94d8c8720dd5f2106cb5e0d944","datavalue":{"value":"adjoint method","type":"string"},"datatype":"string"},"type":"statement","id":"Q6153834$A5DBCFCB-5C60-4634-96CF-557D894FB20F","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$B4EF52C5-D9DB-4DAD-AA17-7C9171721E54","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"4b2baf7bbbd6158397c87336f4b5d313ca73a5ad","datavalue":{"value":"W4390224271","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6153834$ECFC9515-6EC2-4E8A-A2EC-5189D5E2769D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1b96be99743dcbfa2a100cb6b4069b7291c00165","datavalue":{"value":{"entity-type":"item","numeric-id":3446096,"id":"Q3446096"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$A92977FB-4C1A-4E1A-ACB1-CCA622F3793E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d70e7dec02b8f101a1d3e20196f8190b08fbf8e7","datavalue":{"value":{"entity-type":"item","numeric-id":498161,"id":"Q498161"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$F4E16430-BDF1-4E32-8541-243E5B37C1F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bcbe4f948450b3e268434ec7b1814a1b93184dd8","datavalue":{"value":{"entity-type":"item","numeric-id":2201939,"id":"Q2201939"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$53562046-AA06-4F57-B070-E0499EECDBF3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9db3494c076676f97d688fd971742c88f8620eea","datavalue":{"value":{"entity-type":"item","numeric-id":2189705,"id":"Q2189705"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$BA6A5B65-9F9B-4756-B1B1-90E676C22B83","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d41878f6c3c71b263ad715fa1caed3d08ec31c0e","datavalue":{"value":{"entity-type":"item","numeric-id":6044213,"id":"Q6044213"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$5DFC454A-E20D-4CA3-82E7-6F11DDEE73CC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"90a5b371fc5d9a2ae0af564fda1fc0623f2d5870","datavalue":{"value":{"entity-type":"item","numeric-id":3841797,"id":"Q3841797"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$87B71ED9-ABCF-4213-BE47-AD84BDFEE398","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"49fa483e6e80d4997c2a6621b5933042923aba90","datavalue":{"value":{"entity-type":"item","numeric-id":2236941,"id":"Q2236941"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$7477A7F2-BB70-447F-9460-6E288E6D0A72","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cc4e2ee4e2f87927fdeffe46500cf7d5b8bf5d95","datavalue":{"value":{"entity-type":"item","numeric-id":3655529,"id":"Q3655529"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$5369CADA-8EA2-4D9B-BF5E-BC69D2092E91","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"28461eb36c11451c6cb53262ad53f700eb2c2146","datavalue":{"value":{"entity-type":"item","numeric-id":2497865,"id":"Q2497865"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$00514A2A-6ECC-4A9A-9480-5E42DC879B4E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d660b89296cfbe52174e619517b71382fa8d2c7a","datavalue":{"value":{"entity-type":"item","numeric-id":3192127,"id":"Q3192127"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$5AD81CE4-FFCC-443D-83F5-A5805A510513","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"41a7d8c85a59c470cb0ac8c2ae005ff7b714557b","datavalue":{"value":{"entity-type":"item","numeric-id":821990,"id":"Q821990"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$50F27E03-DA74-46D8-A569-7A3DBE53D03F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3c480856b3938fdc347b74dfd677ae5ab467ddc","datavalue":{"value":{"entity-type":"item","numeric-id":5205462,"id":"Q5205462"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$253CE9D2-D79B-4A06-8555-9FB5BD613158","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"03da87875ea85611eb1b90e751aa1d7f4a11506e","datavalue":{"value":{"entity-type":"item","numeric-id":4531870,"id":"Q4531870"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$F43ACD56-C6A1-4129-B742-69BBFDF18D89","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"36d9923f5d9ddd0a58abd876e36a81d40e6e8302","datavalue":{"value":{"entity-type":"item","numeric-id":1251469,"id":"Q1251469"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$C2F788A7-4560-4672-BE3C-685AA6A0178E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"914e8ee381069f563cdd221fe2896b0c7e646005","datavalue":{"value":{"entity-type":"item","numeric-id":5491447,"id":"Q5491447"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$3788572F-1F0A-4484-845F-DBAF9BF946BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"66b0f01de2a4107aa68e5eda9f198938b6373d28","datavalue":{"value":{"entity-type":"item","numeric-id":3779680,"id":"Q3779680"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$182886A9-6D6F-4388-875C-C0A9C8F42076","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c17dac6242d9d133d5dc2200011dfb2bf2fcf72a","datavalue":{"value":{"entity-type":"item","numeric-id":5127596,"id":"Q5127596"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$BEA265BC-ECC2-4E2A-9960-F094606A7F95","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"89befebde9e6649be937c3ebd25410a19def0248","datavalue":{"value":{"entity-type":"item","numeric-id":4371291,"id":"Q4371291"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$D7BDC279-7799-4DA7-893F-601BD39D8BB6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"829f873514ab820f3297b1213f7bcdc5d185a5f8","datavalue":{"value":{"entity-type":"item","numeric-id":3043386,"id":"Q3043386"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$DA1A9690-94BF-48F2-A32E-A94849EBA8BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e5fa7d8e0cf6f12c8074a2a97fba12fda02da72d","datavalue":{"value":{"entity-type":"item","numeric-id":4657186,"id":"Q4657186"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$9B83325A-F684-4D22-83CD-1D1227EAEA31","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6943fb17c3d0a3988a7896d44be789e5e6aa2586","datavalue":{"value":{"entity-type":"item","numeric-id":1811568,"id":"Q1811568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$B0F37DD9-C179-498E-9BB5-A1C7B233BF26","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4507cb5f33c66b86d5c89beef66f90ec89037bf0","datavalue":{"value":{"entity-type":"item","numeric-id":1242724,"id":"Q1242724"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$A91372FD-176D-475E-853F-968BCBE1206F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fd2b7246605907e77aaccead8f446375a340237a","datavalue":{"value":{"entity-type":"item","numeric-id":3462304,"id":"Q3462304"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$9B48392C-F8E8-407A-AB8E-D75E22C2FFEB","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"d17285db380cae414064cc035337b14ecd75cc5f","datavalue":{"value":"10.1016/J.CMA.2023.116697","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6153834$2531F8BA-A7C8-435E-B2FC-DFB152EFF337","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"092e4628b2464997843f0d7ebf15ca6c6255bc2c","datavalue":{"value":{"entity-type":"item","numeric-id":556054,"id":"Q556054"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"93200dbc0be3a50a3a567c588b4ecb95096d03a7","datavalue":{"value":{"amount":"+0.7027227878570557","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6153834$FA66B08F-A2FD-43DB-8AE7-E20EB097B50C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a470fe03a2d9d17e89065bb9c0b72e53f4afb6c2","datavalue":{"value":{"entity-type":"item","numeric-id":6044213,"id":"Q6044213"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"86244427e103a2958319259404fd42f52a5a0f17","datavalue":{"value":{"amount":"+0.69475257396698","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":"Q6153834$6EE4B0D3-A7E2-44AE-B48F-FE0529EBFEE9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6933a0e3ecec22bd27fae19ab48e66dd381a7920","datavalue":{"value":{"entity-type":"item","numeric-id":2831302,"id":"Q2831302"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ebe2714fa4cd0e8e9e9b137aae6590ab5c70bef1","datavalue":{"value":{"amount":"+0.6918504238128662","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6153834$DBC70161-175E-4AAC-AA59-9A8799E9C9F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d57acca85623ecf3dbc0d2af182e3371268343be","datavalue":{"value":{"entity-type":"item","numeric-id":655955,"id":"Q655955"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c86fc9097062f909f488c2069eccea621a2f420b","datavalue":{"value":{"amount":"+0.6887881755828857","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":"Q6153834$C67D8AF3-9E6F-4B10-95F5-32F2021C1476","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2e8373433e309a9f0d643d3d491f2476c979bf03","datavalue":{"value":{"entity-type":"item","numeric-id":5363453,"id":"Q5363453"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8594b01efae21c69fbe8533bc6c578b6628d92a2","datavalue":{"value":{"amount":"+0.6859651803970337","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":"Q6153834$724F62E0-4D82-4D39-8EF6-E2CB6A819AA2","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"bee1ddd2bb542a0e64ca96574e4fab1bba361385","datavalue":{"value":{"entity-type":"item","numeric-id":57074,"id":"Q57074"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6153834$284C8D50-89AB-4E60-A9FD-9CBF12F9185B","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6153834","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6153834"}}}}}