Opendata, web and dolomites


Efficient Multibody Interactive Simulation for Soft Robotics

Total Cost €


EC-Contrib. €






 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.

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

Project "EMISSR" data sheet

The following table provides information about the project.


Organization address
address: NORREGADE 10
postcode: 1165

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


Take a look of project's partnership.

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


 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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