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  Department of Robotics and Mechatronics Engineering Theses Master

Learning Dissipative Dynamics : A Neural Network Approach Integrated with Lagrangian Mechanics

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dc.contributor.advisor 오세훈 -
dc.contributor.author Hoyeong Yeo -
dc.date.accessioned 2026-01-23T11:01:53Z -
dc.date.available 2026-01-23T11:01:53Z -
dc.date.issued 2025 -
dc.identifier.uri https://scholar.dgist.ac.kr/handle/20.500.11750/59823 -
dc.identifier.uri http://dgist.dcollection.net/common/orgView/200000889953 -
dc.description Legged Robot, Lagrangian Mechanics, Dynamic Friction, Neural Network, Force Observer -
dc.description.tableofcontents Ⅰ. INTRODUCTION 1

ⅠI. MIMO HYSTERETIC FRICTION-AWARE LAGRANGIAN-BASED NETWORK 5
2.1 Lagrangian-based Neural Networks 8
2.2 Dissipative Energy of Non-conservative System 12
2.3 Proposed Method : Mysteric Net (M-Net) 18

ⅠII. EXPERIMENTAL VALIDATION OF SYSTEM MODELING 20
3.1 System Information : Legged Robot 20
3.2 Experiment Design and Data Acquisition 22
3.3 Results 25

ⅠV. MYSTERIC NET-BASED FORCE OBSERVER 30
4.1 Experiment Design and Data Acquisition 31
4.2 Results 32

V. CONCLUSION 37

REFERENCE 38

SUMMARY (in Korean) 40		 -
dc.format.extent 40 -
dc.language eng -
dc.publisher DGIST -
dc.title Learning Dissipative Dynamics : A Neural Network Approach Integrated with Lagrangian Mechanics -
dc.title.alternative 소산 동역학 학습: 라그랑주 역학과 통합된 신경망 접근법 -
dc.type Thesis -
dc.identifier.doi 10.22677/THESIS.200000889953 -
dc.description.degree Master -
dc.contributor.department Department of Robotics and Mechatronics Engineering -
dc.contributor.coadvisor Sukho Park -
dc.date.awarded 2025-08-01 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.citation XT.RM 여95 202508 -
dc.date.accepted 2025-07-21 -
dc.contributor.alternativeDepartment 로봇및기계전자공학과 -
dc.subject.keyword Legged Robot, Lagrangian Mechanics, Dynamic Friction, Neural Network, Force Observer -
dc.contributor.affiliatedAuthor Hoyeong Yeo -
dc.contributor.affiliatedAuthor Sehoon Oh -
dc.contributor.affiliatedAuthor Sukho Park -
dc.contributor.alternativeName 여호영 -
dc.contributor.alternativeName Sehoon Oh -
dc.contributor.alternativeName 박석호 -
dc.rights.embargoReleaseDate 2030-02-28 -
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