{"entities":{"Q6563390":{"pageid":14174545,"ns":120,"title":"Item:Q6563390","lastrevid":42351452,"modified":"2025-06-12T11:12:03Z","type":"item","id":"Q6563390","labels":{"en":{"language":"en","value":"Robust tracking control of the variable stiffness actuator based on the lever mechanism"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7872620"}},"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":"Q6563390$E57B7502-5842-4B2B-80F9-71FB4DB4C233","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"5386d837ed076241603b1e308a1aa1d182834a12","datavalue":{"value":{"text":"Robust tracking control of the variable stiffness actuator based on the lever mechanism","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6563390$B8928DCB-3BEA-4BFF-9CFA-DA55EC25A67D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"9cdaeb1c226b3db6a6164d03c34a8f6a40f775b6","datavalue":{"value":{"entity-type":"item","numeric-id":6563389,"id":"Q6563389"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$D4C68903-74DD-4A3C-8D90-44721AE12212","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3857108228ecfcee1f49a18f284202d49697b81b","datavalue":{"value":{"entity-type":"item","numeric-id":316115,"id":"Q316115"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$61EE5DC1-805A-4AE7-8B20-8A5D96752E6B","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"4a339d38578f9ea3c4a810c6814ca082b0d20b6d","datavalue":{"value":{"entity-type":"item","numeric-id":2789888,"id":"Q2789888"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$C8AE3F73-6853-4A2F-8E98-30A0C4FF77C0","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"52ad18669458f088996fd7b4dd3dee92e307308b","datavalue":{"value":{"time":"+2024-06-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6563390$809F507D-314E-4F63-9B77-251ED9E5BF35","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"0d5eef6e848157326ce3189563feefa6213bff81","datavalue":{"value":"93-XX","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6563390$C7EDC1F9-0D71-4ECF-A1FF-68079931362C","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f71e1136572321cee6581a301da4a8b8331c5395","datavalue":{"value":"7872620","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6563390$16E91B95-2419-4422-87F9-98D315B55F21","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fd9b8a778f3dff7e9eb9071ce746267b58a6b1e5","datavalue":{"value":"variable stiffness actuator","type":"string"},"datatype":"string"},"type":"statement","id":"Q6563390$62F06040-6C0D-4E08-8160-51B35E3C485C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"15413d864f8f64cb13637a6836c3ddb30c90eeef","datavalue":{"value":"feedback linearization","type":"string"},"datatype":"string"},"type":"statement","id":"Q6563390$46C8751C-BC96-4910-9FFC-2A47FDDA1AB4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fe7e1290d82867c350810a4f64eb42447e7dca13","datavalue":{"value":"disturbance observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q6563390$B4D7F20F-00C9-45AF-9D22-1226363B507C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7f9c7b4deb8986824f5dfc6c04add7d2ea730e9f","datavalue":{"value":"sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6563390$2148258E-5CA8-4F79-8EED-B57DC7E15FA1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"49b9d64e436851b4a4758187c47acc07482529f9","datavalue":{"value":"input saturation compensation","type":"string"},"datatype":"string"},"type":"statement","id":"Q6563390$2BE57B6A-6AB0-4E9D-9992-D6084090A8DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"90c9cee771393ac0eea638c347db20af2ee46434","datavalue":{"value":"robust tracking control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6563390$9143E775-2018-4EC2-AD53-9D3DB11D397E","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":"Q6563390$0D3B09D7-96AD-4CB9-8D89-F107395258E2","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"59cbbfd3d6c308fadf71bae13a9672b2a9bda84c","datavalue":{"value":{"entity-type":"item","numeric-id":1687437,"id":"Q1687437"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$6B02AF07-D8B4-4C89-B718-2CF35D21D6D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f3a7677cae7713181737390e44ca78e22b4a586e","datavalue":{"value":{"entity-type":"item","numeric-id":3604528,"id":"Q3604528"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$3F17C689-3B59-40EC-A225-509617357E7E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a36682bdbe441f6cbaf57a84ba1661937578c7a6","datavalue":{"value":{"entity-type":"item","numeric-id":4686338,"id":"Q4686338"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$20CB6199-190C-4A2A-B2B1-391837DB6A59","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"33558ce89bcc4da86221747e27ec61e5a4bf754a","datavalue":{"value":{"entity-type":"item","numeric-id":4599958,"id":"Q4599958"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$814BED36-17D6-4ACE-AD29-3EF4625348FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"546dfdcb1a1dcd7104629fd038049d4a57078fcf","datavalue":{"value":{"entity-type":"item","numeric-id":3466292,"id":"Q3466292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$9A2B23D3-3856-4877-8CF3-5F183AA10314","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8d8d6cb95c4e4775dd167b99aa6d64bb3df8182c","datavalue":{"value":{"entity-type":"item","numeric-id":345589,"id":"Q345589"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$413254BC-B6EF-4189-A81E-4120645790FB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4fb3a0b23034830c95925672ccf06735b58f1775","datavalue":{"value":{"entity-type":"item","numeric-id":4592843,"id":"Q4592843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$47AF55C0-4D03-4459-B728-1E5B21EA88E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cc3ec4e00c5ee8f5cf6aca221d67a98c32454f0d","datavalue":{"value":{"entity-type":"item","numeric-id":602515,"id":"Q602515"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6563390$27F7A2F8-B810-4CAF-B586-4F8DCEE3C4B8","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"2c60c36ada5959ed810ae15dfa6736ff903fd540","datavalue":{"value":"10.1002/ASJC.1929","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6563390$35902286-081D-4D64-9DA4-197CD39D24CD","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6563390","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6563390"}}}}}