{"entities":{"Q6165342":{"pageid":13300223,"ns":120,"title":"Item:Q6165342","lastrevid":58733247,"modified":"2026-04-06T12:41:13Z","type":"item","id":"Q6165342","labels":{"en":{"language":"en","value":"Virtual nonholonomic constraints: a geometric approach"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7720588"}},"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":"Q6165342$4B8D8E46-25F3-4FD5-8ECE-D49671FCFD57","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"db75373f0983d894bda280bfff96ac5509f2989a","datavalue":{"value":{"text":"Virtual nonholonomic constraints: a geometric approach","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6165342$68A83A05-3C2E-4D3D-9F63-98C71B32DC3A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"ae69442715e99666e83784d0e8538ec3e6d3faf3","datavalue":{"value":"1520.93095","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6165342$E75F33C5-D86B-4978-8293-46E157902547","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c5c546fcb42ec77bc63a1df5c8425c099a5c0d54","datavalue":{"value":{"entity-type":"item","numeric-id":2022533,"id":"Q2022533"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$8D3882C8-7EE3-4225-8FB3-01933E30A849","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"9d49c70369ef92aeed887e238fda2e22c09371ef","datavalue":{"value":{"entity-type":"item","numeric-id":2685529,"id":"Q2685529"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$95CCA3C9-6A54-42CB-A9B0-94800AD119A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2c6159ac337d70b1f1e513b889af174a47f82be8","datavalue":{"value":{"entity-type":"item","numeric-id":481236,"id":"Q481236"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$706D1EBC-7C9F-4589-93A7-B685DFF0D103","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"62fbc7b2c2563455d0cc345c37ba99d89a019106","datavalue":{"value":{"entity-type":"item","numeric-id":317179,"id":"Q317179"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$F7D15AC2-2337-4176-983A-925A4B9DA475","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":"Q6165342$F24A84AA-2CCB-497D-AE24-B8E0FA942ECC","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"0626411116538cb58ee59bb6ed134e622ea83cbf","datavalue":{"value":{"time":"+2023-07-31T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6165342$68C42E5D-EF94-4063-9DA7-F8452670B499","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"814644f19278d8abd1a0e4b5c0b880311a749684","datavalue":{"value":"https://arxiv.org/abs/2207.01299","type":"string"},"datatype":"url"},"type":"statement","id":"Q6165342$1019A895-0EFD-43CE-BF8A-F0CB7907F004","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"216a608e3fa79d664fb5f28a72edf15852141160","datavalue":{"value":"93B27","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6165342$1DD86604-FDAA-48CA-A23B-44A1AE0A76E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c41c3b48806f65b48642453f3d3ae9504dc0ea98","datavalue":{"value":"70F25","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6165342$44E36978-EFBF-4C7B-8BD2-13B3F0742DCC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6165342$3153EFC5-3A7C-4091-86E7-A1C546C94C63","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"bb64ff93171d38e7f15de76d2a21a31486ac12c6","datavalue":{"value":"7720588","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6165342$43617EC5-5BD2-4500-855D-00E337C4892A","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6da23948ee5f82617596814250a1534d079b1db5","datavalue":{"value":"virtual constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q6165342$6FA01203-D6DB-41F4-8241-6CF0646330C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7da4268bdd0a2e7ef9be4c14ae67271057bb1b10","datavalue":{"value":"nonholonomic systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q6165342$35C18920-8028-4A5A-9EBD-74D9BC6D8164","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cc4ea600029bbe38c1929b43f80616c84c61dcf3","datavalue":{"value":"affine connection control systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q6165342$26F0EA63-8184-4694-B866-CD0A0A67E309","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1313e81ec853c453b6816353ece60b57a1f2af57","datavalue":{"value":"underactuated mechanical systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q6165342$E5524371-B554-4B22-BCE8-1E7A71111169","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":"Q6165342$30AE2B73-DA6C-4302-8436-F006D2272298","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"cd64e80fecd8efd77fee66ad9c04dcbe0a71e5c6","datavalue":{"value":"W4383271786","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6165342$C40B6501-3C80-495E-BB5B-62F6401F4258","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb668a9ee836cb382fcd317f73577a474cdb4630","datavalue":{"value":{"entity-type":"item","numeric-id":1810402,"id":"Q1810402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$EFC3895F-C2CB-42E2-A616-6B51E5B7B38B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb462ff63161b0eae98a6c35320ab7ac24d444b0","datavalue":{"value":{"entity-type":"item","numeric-id":3155754,"id":"Q3155754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$4216DAAF-D98F-4E50-836F-5E2825F91441","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"78c5cceca27796867a58876a340d8f2da222239f","datavalue":{"value":{"entity-type":"item","numeric-id":1734873,"id":"Q1734873"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$24323688-199A-4699-A332-118C7BB216C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d88710ab9619d4dbd9c6d7c78e9dd99f95c5703c","datavalue":{"value":{"entity-type":"item","numeric-id":2628498,"id":"Q2628498"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$8019C5E9-52B0-4C98-967E-B78DD8DE7B13","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8687e0080d12337d8bf008b45f609eae370d159a","datavalue":{"value":{"entity-type":"item","numeric-id":608431,"id":"Q608431"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$ACE43E01-D5F7-47B3-B529-67E00ED6CB90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4abf0d7fbc3c70e18548c20b783c60ac3d249b5a","datavalue":{"value":{"entity-type":"item","numeric-id":2440657,"id":"Q2440657"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$0DF2D478-A2B0-4EB6-9B91-3C50B2B4C445","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"241fc9a7d47384c0c6e7904f3592647309ada017","datavalue":{"value":{"entity-type":"item","numeric-id":1061695,"id":"Q1061695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$6B35B4E4-F2F2-4075-877D-11E9278C61A3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"393cd2b301d01aa6bd89760a15a7628d813fbd5f","datavalue":{"value":{"entity-type":"item","numeric-id":1289588,"id":"Q1289588"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$A7C20457-EBC5-428C-8B78-EF07FC0B15C8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f48188ab904afc9bbe52bcf2a237f032ccfb4430","datavalue":{"value":{"entity-type":"item","numeric-id":5353184,"id":"Q5353184"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$B0691E9F-97C6-47F2-AC8B-E8BBE2CCF73C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"019bc0c00d840e9b6e3d0cac04e1622989e0192b","datavalue":{"value":{"entity-type":"item","numeric-id":5269838,"id":"Q5269838"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$B2F4A89C-0056-4622-AA7C-8C5C40983FDC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c83d25ea9c5481eaa47271f788b800e8bc123912","datavalue":{"value":{"entity-type":"item","numeric-id":1797096,"id":"Q1797096"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$6BE2FF6A-101F-4B4A-BBF6-5E00D2453A28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"416c368317f4256a0c281c81940e3ba582dedc52","datavalue":{"value":{"entity-type":"item","numeric-id":3399243,"id":"Q3399243"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$8CF914E2-A3A4-437A-8812-19BB99E93AB3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"420f665a8ec4d97f6be7b6f1d50d1c989a0ad559","datavalue":{"value":{"entity-type":"item","numeric-id":619997,"id":"Q619997"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$5E2E2250-64ED-4AFE-A38E-AB3BF2AA957D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0e725d004db973583a4befdf0cb051728feb2856","datavalue":{"value":{"entity-type":"item","numeric-id":4978777,"id":"Q4978777"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$EA7AE174-5C4A-4255-B745-B529074DFB76","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b94cc62a57ffdab77398e5bbdecb8f909df532aa","datavalue":{"value":{"entity-type":"item","numeric-id":4214792,"id":"Q4214792"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6165342$11007F75-C6B3-41CC-8DDB-AD76D88D52FD","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"655154fb455168193a8de4e031f4422374a2355f","datavalue":{"value":"10.1016/J.AUTOMATICA.2023.111166","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6165342$7215DE24-648B-4130-9D39-D90700032CF7","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2de32aa2374dbfb323f56a0fc2bb377dd03b10df","datavalue":{"value":{"entity-type":"item","numeric-id":1797012,"id":"Q1797012"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"16886228540f084a7d3d91622968c6dccb2543c9","datavalue":{"value":{"amount":"+0.8107092380523682","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":"Q6165342$8B5C50AA-FA33-4B86-836F-C8EAE1A29FB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a5016f5c01cd2066722a2fcc58cc4c4a4370b19a","datavalue":{"value":{"entity-type":"item","numeric-id":6163980,"id":"Q6163980"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4e2142e5dbea7e6da784d0eb1750c92b4391eba7","datavalue":{"value":{"amount":"+0.7690069079399109","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":"Q6165342$24C26A3C-7AC2-4536-AB41-994540DD7489","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"705cbc6b8a7c91e2674847a70eb769fe73f5728a","datavalue":{"value":{"entity-type":"item","numeric-id":379500,"id":"Q379500"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"84b1af719be753d31649a47215027b69c2df1afd","datavalue":{"value":{"amount":"+0.751327395439148","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":"Q6165342$92F86E0F-5904-45DA-902D-42F67CF28C64","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3ca6c075972295574aa26c363af265c5d3ec27d5","datavalue":{"value":{"entity-type":"item","numeric-id":5269838,"id":"Q5269838"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"072e428a3cafd3f53b952233d51acb42b910d227","datavalue":{"value":{"amount":"+0.7474471926689148","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":"Q6165342$4054D2FD-BB9D-46BE-AD0E-02EF0A459956","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6165342","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6165342"}}}}}