Martine Dyring Hansen

Learning Forced Multibody Dynamics on Lie Groups

Martine Dyring Hansen, Marta Ghirardelli, Elena Celledoni, David Martin de Diego, Brynjulf Owren

We propose an architecture for learning the dynamics of mechanical systems based on discrete forced Euler-Lagrange equations on Lie groups using only position data. By formulating the dynamics directly on manifold-valued configuration spaces, the method naturally respects the geo…Read more