EMISSR SIGNED

Project "EMISSR" data sheet

The following table provides information about the project.

 Partnership

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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.