PhD Position Model Based Control of Soft Robots

We are looking for a motivated PhD candidate to join the Physical Intelligence Lab at TU Delft and contribute to advancing model-based control of soft robots. The position is funded by the ERC Starting Grant “RIPLEY,” led by Dr. Cosimo Della Santina. The project aims to rethink how soft robots can interact with their environment, focusing on large-area, multi-point contacts—similar to how an elephant wraps its trunk around an object.

Unlike traditional robots, which rely on rigid links and localized interaction points, soft robots are composed of deformable materials that can conform to complex geometries and operate safely around humans. They offer unique advantages for manipulation and locomotion, but current control algorithms do not fully exploit their capabilities. Most rely on approximations tailored for rigid systems or require extensive sensing and computation. This project addresses the challenge of developing model-based control strategies tailored to soft bodies, capable of exploiting their compliant nature.

The PhD candidate will focus on the theoretical and algorithmic development of control methods that combine physical modeling and real-time computation. The work will involve deriving reduced-order models, designing controllers that exploit the system’s distributed dynamics, and validating them experimentally on soft robotic platforms in our lab. These include tentacle-like manipulators and soft arms, eventually leading toward autonomous, multi-limb systems for tasks such as inspection, agriculture, and healthcare.

The PhD student will be supervised by Dr. Della Santina and work closely with a team of researchers in soft robotics, control theory, and machine learning. They will have access to a fully equipped lab and benefit from collaborations within the ERC team and across TU Delft. There will be opportunities to present at leading international conferences and to collaborate with other academic and industrial partners.

The ideal candidate holds a Master’s degree in Robotics, Control Theory, Mechanical Engineering, or Applied Mathematics. A background in system dynamics, modeling, or control is essential; prior experience with soft robotics or experimental work is a plus but not required. We value independence, curiosity, and a willingness to bridge theory and practice.

The position is full-time and based in Delft, The Netherlands. TU Delft offers a stimulating and supportive research environment, competitive salary, and broad training opportunities for career development.

• First and foremost: scientific curiosity!
• A Master’s degree (or equivalent) in Robotics, Control Theory, Mechanical Engineering, Applied Mathematics, or a related field.
• Solid background in dynamical systems, modeling, and control.
• Some programming experience.
• Strong analytical mindset and problem-solving attitude.
• Good communication skills and the ability to work both independently and in a team.
• Proficiency in written and spoken English.
• Prior experience in soft robotics, machine learning for control, or experimental robotics is a plus, but not required.
• Affinity with hands-on work and willingness to interact with physical robotic platforms is a plus, but not required.

Doctoral candidates will be offered a 4-year period of employment in principle, but in the form of 2 employment contracts. An initial 1.5 year contract with an official go/no go progress assessment within 15 months, followed by an additional contract for the remaining 2.5 years assuming everything goes well and performance requirements are met.

Salary and benefits are in accordance with the Collective Labour Agreement for Dutch Universities, increasing from €3059 - €3881 gross per month, from the first year to the fourth year based on a fulltime contract (38 hours), plus 8% holiday allowance and an end-of-year bonus of 8.3%.

As a PhD candidate you will be enrolled in the TU Delft Graduate School. The TU Delft Graduate School provides an inspiring research environment with an excellent team of supervisors, academic staff and a mentor. The Doctoral Education Programme is aimed at developing your transferable, discipline-related and research skills.

Will you need to relocate to the Netherlands for this job? TU Delft is committed to make your move as smooth as possible! The HR unit, Coming to Delft Service, offers information on their website to help you prepare your relocation. In addition, Coming to Delft Service organises events to help you settle in the Netherlands, and expand your (social) network in Delft. A Dual Career Programme is available, to support your accompanying partner with their job search in the Netherlands.

At TU Delft we embrace diversity as one of our core values and we actively engage to be a university where you feel at home and can flourish. We value different perspectives and qualities. We believe this makes our work more innovative, the TU Delft community more vibrant and the world more just.