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.

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

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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