{"entities":{"Q6534652":{"pageid":14145795,"ns":120,"title":"Item:Q6534652","lastrevid":57261477,"modified":"2026-03-27T16:49:49Z","type":"item","id":"Q6534652","labels":{"en":{"language":"en","value":"Impedance with finite-time control scheme for robot-environment interaction"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7348250"}},"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":"Q6534652$2A3BB96E-A247-487E-BE3C-63308C120B35","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"cf54cfbf5f7e8773f04be80c87e5412ebde364a2","datavalue":{"value":{"text":"Impedance with finite-time control scheme for robot-environment interaction","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6534652$86C17649-7A52-4F10-B079-650C69E39073","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"5a7a8959b115d5dc4fcaac25630403c485351c9d","datavalue":{"value":"1544.93547","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6534652$F71B15A1-68ED-446B-8D83-102461F5FF8F","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"3e1f0fbc8c5d2caa0c0c24dc6006e4f95baa711f","datavalue":{"value":"10.1155/2020/2796590","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6534652$2F650D2D-CA2B-4A45-ABCE-D9468A3D16C0","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"e879a1265269b2120e31c673bc29950375d47912","datavalue":{"value":{"entity-type":"item","numeric-id":6127125,"id":"Q6127125"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$E9645E8C-D6F1-4D86-8B8C-D35C585D7D3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1b95c8a9b0b9f4bad34313564138ccf508738688","datavalue":{"value":{"entity-type":"item","numeric-id":822524,"id":"Q822524"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$10E6A216-E9FF-42DB-B1CF-563B3BBF5123","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f29f7f465ed10097842502cccbc6c701008031bf","datavalue":{"value":{"entity-type":"item","numeric-id":6534651,"id":"Q6534651"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$57FDE50B-C52B-481B-8DEB-79699313D783","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$F2FA9CB3-584D-4A84-8D2D-E94A44B50E34","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c8b05cb12b6f1bb587623cda38d574ee286ffcb7","datavalue":{"value":{"time":"+2021-05-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6534652$2D4A2A25-6F1F-48BD-AA1E-1E257B0ECA6C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6534652$AEE7BCF1-D7B1-4418-88C0-1E9991EF98C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6534652$508D88A4-E665-4D9D-8769-A71B26229495","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7ae0a986d607d9b0c7df46eb597d9aa7ca19fc1f","datavalue":{"value":"93D20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6534652$63EA573E-A7E4-4AF6-A57A-86C40AAD7B6B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"45ae77093f47d26fd4a6135d7209428306e12508","datavalue":{"value":"7348250","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6534652$6645F03E-BABC-453D-9009-4AE7437E1BAB","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$BF271DBE-FC07-4BCE-9E63-8D0B2F601224","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"cf372e1e7e456f2b14760fc169512aaf75449985","datavalue":{"value":{"entity-type":"item","numeric-id":3682323,"id":"Q3682323"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$E4EC3260-9413-4124-B8CC-C265BD83281D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59ef372cb2b80b1bb7fa0bd3d122b4072f664b1a","datavalue":{"value":{"entity-type":"item","numeric-id":2573940,"id":"Q2573940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$6405A7D6-E577-4BE3-AC8D-79896A5C00B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c4a199e5bae2656d692d65d9b94e4008a03eb17","datavalue":{"value":{"entity-type":"item","numeric-id":2424698,"id":"Q2424698"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$21D6C122-C988-474E-B3CF-837B8FE40030","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"68f8b388fb8d9157079c9057983ac99289389896","datavalue":{"value":{"entity-type":"item","numeric-id":1784068,"id":"Q1784068"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$2122F0F1-FB53-49F9-9464-07CCB6E4F85A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d740a54510b0643eef3ed2b07144d5a7a8f56cc3","datavalue":{"value":{"entity-type":"item","numeric-id":5134299,"id":"Q5134299"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$BCD91D30-484E-4BE6-AF26-14A74B4CD283","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f4392ee26a02efa889d07a5a6a2b0c1df027d243","datavalue":{"value":{"entity-type":"item","numeric-id":3386592,"id":"Q3386592"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$3BC5F02F-5DA7-4AE3-A703-C32B0D89E92B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ea883b0eaaecbb8bc77cb83286ce02dbc7f39ff0","datavalue":{"value":{"entity-type":"item","numeric-id":5125500,"id":"Q5125500"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$ED4F1112-42E2-45DB-96F9-384A1359D729","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"456cba106764aaa05396536d6d181b7e81124e1d","datavalue":{"value":{"entity-type":"item","numeric-id":4943739,"id":"Q4943739"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$3E839382-E2C6-4E6E-AA6E-D496563ACBF7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ed16dc76348d136fb6e532198e7fc2f85d66df34","datavalue":{"value":{"entity-type":"item","numeric-id":5281845,"id":"Q5281845"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$6C61B5E2-D887-4864-A8FA-D59851828A8E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"49b7c715a39849368123f260d29634d3a7b76fe5","datavalue":{"value":{"entity-type":"item","numeric-id":1603624,"id":"Q1603624"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$248CE710-83D6-4DA3-85A5-6369180238B7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7f496b0d40e6dd648521e4b04c3da7c259ab9113","datavalue":{"value":{"entity-type":"item","numeric-id":3552338,"id":"Q3552338"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6534652$8DD83758-AC92-4381-861D-EA6F5B0BB82C","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0eefb03800208012befc918c0b2bf49df62dd65d","datavalue":{"value":{"entity-type":"item","numeric-id":6076611,"id":"Q6076611"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"effa54acce9342ce321d25e7cc26d385d1385780","datavalue":{"value":{"amount":"+0.803234875202179","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6534652$FA59DE94-38DF-49E8-BEB2-21A82E7475B7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9b5bc09d9a26ec9d0288999dcebb5be8a01dcb54","datavalue":{"value":{"entity-type":"item","numeric-id":4037647,"id":"Q4037647"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5d307cd6060a86e8f919e94fb4b6103c6c6bdc59","datavalue":{"value":{"amount":"+0.7570320963859558","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":"Q6534652$2C667E3C-BB89-4B01-A0A2-C3D534E18A07","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6dd35679b85ee71be1582bdab5160d724194eb80","datavalue":{"value":{"entity-type":"item","numeric-id":5265674,"id":"Q5265674"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"257a7b74591696a9e746c5d15552a7b11ab8d1cd","datavalue":{"value":{"amount":"+0.7564675807952881","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":"Q6534652$9E3506A1-675E-4DA1-B88B-AD9317A8537C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c8c2d837d5356e5ef84d73c3620120f542d2dc02","datavalue":{"value":{"entity-type":"item","numeric-id":2424698,"id":"Q2424698"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"181d36dfcd7488f9802fce6f86b5484784a16ab0","datavalue":{"value":{"amount":"+0.7545584440231323","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":"Q6534652$24074C34-5E0D-41A1-9F4D-A4647EC85D33","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2962b118b89ee86a10a5f11a5b1e9c220f08ffba","datavalue":{"value":{"entity-type":"item","numeric-id":5745567,"id":"Q5745567"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b289bd3ede3c4a37ece9e7f603f505549bff0c92","datavalue":{"value":{"amount":"+0.736105740070343","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":"Q6534652$0E5AF374-7EEE-48EB-8BDB-27DC2D2A05CE","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":"Q6534652$15E31280-DC02-42D9-8637-864D64D0DAFA","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6534652","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6534652"}}}}}