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EMISSR SIGNED

Efficient Multibody Interactive Simulation for Soft Robotics

Total Cost €

0

EC-Contrib. €

0

Partnership

0

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 EMISSR project word cloud

Explore the words cloud of the EMISSR project. It provides you a very rough idea of what is the project "EMISSR" about.

robots    coupling    accuracy    solver    sacrificing    underactuated    made    generation    iterative    pneumatic    simulating    performance    muscles    interactive    daunting    actuators    approximations    learning    me    suitable    freedom    opportunity    algorithms    emissr    originality    seeing    continua    parallel    profile    models    testbed    unphysical    bodies    tendons    formulation    stability    proven    gap    career    unified    ratios    nonlinear    ucph    inspired    tubes    frictional    oscillations    multibody    offers    forgetting    degrees    argument    body    humans    flexible    transversal    simulator    perfectly    globe    teaching    dynamics    couple    fidelity    matches    consists    fact    create    constraint    wants    artificial    training    seize    mass    soft    contact    deformable    virtual    policies    competencies    distinguish    investment    biology    extremely    robotics    simulations    economic    fast    academic    fill    rigid    replicas    multilevel    time    machine    parts   

Project "EMISSR" data sheet

The following table provides information about the project.

Coordinator
KOBENHAVNS UNIVERSITET 

Organization address
address: NORREGADE 10
city: KOBENHAVN
postcode: 1165
website: www.ku.dk

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Denmark [DK]
 Total cost 212˙194 €
 EC max contribution 212˙194 € (100%)
 Programme 1. H2020-EU.1.3.2. (Nurturing excellence by means of cross-border and cross-sector mobility)
 Code Call H2020-MSCA-IF-2017
 Funding Scheme MSCA-IF-EF-CAR
 Starting year 2019
 Duration (year-month-day) from 2019-03-01   to  2021-02-28

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    KOBENHAVNS UNIVERSITET DK (KOBENHAVN) coordinator 212˙194.00

Map

 Project objective

The aim of the EMISSR project is to create a novel multibody dynamics simulator for soft robotics. The originality of the project consists in a unified constraint based formulation that can couple rigid and flexible bodies in the same solver. The argument behind a simulator for soft robotics is the fact that traditional robots are not suitable for working in humans and their control has proven daunting especially for nonlinear underactuated systems. The new field of soft robotics is seeing great growth and investment around the globe and Europe needs to seize this economic opportunity. New dynamics simulations and control algorithms are needed for soft robots, that are made up of soft parts and biology inspired actuators. EMISSR wants to fill in this gap and aims to become a testbed for training control policies based on machine learning and other algorithms. In terms of performance and accuracy, EMISSR will be a high-fidelity interactive simulator, meaning that it will be extremely fast due to its multilevel solver and parallel implementation, while not sacrificing much of the accuracy needed for soft robotics applications. The frictional contact and deformable continua models will not make any unphysical approximations. The elements that will distinguish EMISSR from other existing projects are: two-way coupling of rigid and soft bodies, a fast multilevel iterative solver, stability for high mass ratios and transversal oscillations and robust contact information generation. These will be applied to making virtual replicas of soft robots (e.g. soft body parts, artificial muscles and tendons, pneumatic tubes), simulating their dynamics and testing machine learning based control policies for large numbers of degrees of freedom. At the same time, the training programme that UCPH offers matches my career development needs perfectly, allowing me to build upon my current competencies, not forgetting the opportunity to enhance my academic profile and teaching experience.

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The information about "EMISSR" are provided by the European Opendata Portal: CORDIS opendata.

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