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Soft Manipulation, short SoMa. The SOMA Eu-project H2020, dedicates to the development of simple, compliant, yet strong, robust, and easy-to-program manipulation systems. SOMA explores a new avenue of robotic manipulation, exploiting the physical constraints imposed by the environment to enable robust grasping and manipulation in dynamic, open, and highly variable contexts. Team: Technische Universität Berlin (Tu-Berlin), Università di Pisa, Istituto Italiano di Tecnologia (IIT), Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR), Institute of Science and Technology Austria (IST-Austria), Ocado, Disney Research Zurich