Dr Bruno Vilhena Adorno

Senior Lecturer in Robotics

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I am currently looking for an outstanding candidate to conduct Ph.D. research under my supervision. 


This Ph.D. position is funded for 3 years. Due to funding restrictions, the studentship is only available for applicants eligible for UK/home fees (https://www.gov.uk/guidance/studying-in-the-uk-guidance-for-eu-students#changes-to-funding-from-the-2021-to-2022-academic-year). This project will include the payment of tuition fees as well as a stipend equivalent to RCUK rates (currently at £15,609 p.a. tax-free for 2021/22) awarded to the suitable candidate.


Title: Modeling and Constrained Task-Space Control of Soft Robots


Abstract: Although task-space closed-loop control of rigid serial manipulators is well established in the robotics literature, closed-loop control of soft serial manipulators, especially in the task-space, is much less explored due to the inherent complexity of those robots. They have an infinite number of degrees of freedom, yielding several modeling challenges. Also, they have a finite number of actuators, thus making the robot intrinsically underactuated, resulting in control challenges. Last, because the number of sensors is also limited, measurements alone are not sufficient to determine the robot configuration, and thus a good model is paramount for a good estimation. This project will explore techniques for modeling and constrained task-space control of soft serial manipulators, in which constraints, such as obstacles, will be accounted for directly in the control law. That will enable the robot to reach challenging regions of the workspace while ensuring reactivity.


Expected candidate's background:

  • Excellent mathematical skills.
  • Knowledge of manipulator modeling and control.
  • Good programming skills (C++ or Python).
  • Excellent communication skills.


Prospective candidates are invited to contact me, by email, and send a single pdf file containing their CV, a short motivation letter, at least one recommendation letter, and their transcripts (BSc and MSc).