Patent ID: 11922134
Assignee: SIEMENS AKTIENGESELLSCHAFT
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A system of neural networks for synthesizing a controller, comprising:
a processor; and
a non-transitory memory having stored thereon modules executed by the processor, the modules comprising:
a feeder neural network trained to estimate an ordinary differential equation (ODE) from time series training data (X) of a trajectory of a robot having a combination of embedded angular data and generalized coordinate and momentum data, configured to learn dynamics of a physical system that includes the robot by encoding a generalization of a Hamiltonian representation of the dynamics using a constant external control term (u) for driving parameter learning in the feeder neural network; and
a neural ordinary differential equation (ODE) solver configured to receive the estimate of the ODE from the feeder neural network, and to synthesize a controller to control the system to track a reference configuration, wherein the controller is configured to control the robot based on the reference configuration that is tracked.