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    Hamiltonian Neural Network 6-DoF Rigid-Body Dynamic Modeling Based on Energy Variation Estimation by Fei Simiao, Huo Lin, Sun Zhixiao, Wang He, Lu Yuanjie, He Jile, Luo Qing, Su Qihang

    Published 2023-01-01
    “…This study introduces a novel deep modeling approach that utilizes Hamiltonian neural networks to address the challenges of modeling the six degrees of freedom rigid-body dynamics induced by control inputs in various domains such as aerospace, robotics, and automotive engineering. The proposed method is based on the principles of Hamiltonian dynamics and employs an inductive bias in the form of a constructed bias for both conservative and varying energies, effectively tackling the modeling issues arising from time-varying energy in controlled rigid-body dynamics. …”
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