PhD Position Model Based Control of Soft Robots

We’re looking for a motivated PhD student with a Master’s in Robotics, Control Theory, Applied Math, or Mechanical Engineering eager to work on model-based control of soft robots

Job description 

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.

Job requirements 

• 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.

TU Delft (Delft University of Technology) 

Delft University of Technology is built on strong foundations. As creators of the world-famous Dutch waterworks and pioneers in biotech, TU Delft is a top international university combining science, engineering and design. It delivers world class results in education, research and innovation to address challenges in the areas of energy, climate, mobility, health and digital society. For generations, our engineers have proven to be entrepreneurial problem-solvers, both in business and in a social context. 

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. Together, we imagine, invent and create solutions using technology to have a positive impact on a global scale. That is why we invite you to apply. Your application will receive fair consideration. 

Challenge. Change. Impact! 

Faculty Mechanical Engineering 

From chip to ship. From machine to human being. From idea to solution. Driven by a deep-rooted desire to understand our environment and discover its underlying mechanisms, research and education at the ME faculty focusses on fundamental understanding, design, production including application and product improvement, materials, processes and (mechanical) systems. 

ME is a dynamic and innovative faculty with high-tech lab facilities and international reach. It’s a large faculty but also versatile, so we can often make unique connections by combining different disciplines. This is reflected in ME’s outstanding, state-of-the-art education, which trains students to become responsible and socially engaged engineers and scientists. We translate our knowledge and insights into solutions to societal issues, contributing to a sustainable society and to the development of prosperity and well-being. That is what unites us in pioneering research, inspiring education and (inter)national cooperation. 

Click here to go to the website of the Faculty of Mechanical Engineering. Do you want to experience working at our faculty? These videos will introduce you to some of our researchers and their work. 

Conditions of employment
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 € 2872 per month in the first year to € 3670 in the fourth year. 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. 

The TU Delft offers a customisable compensation package, discounts on health insurance, and a monthly work costs contribution. Flexible work schedules can be arranged.  

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.  

Additional information
If you would like more information about this vacancy or the selection procedure, please contact Cosimo Della Santina, via recruitment-me@tudelft.nl.

Application procedure
Are you interested in this vacancy? Please apply no later than 25 June 2025 via the application button and upload the following documents:

• Your CV (including avg grade)
• Cover letter
• List of exams with grades (both bachelor and master)

You can address your application to Cosimo Della Santina.

Doing a PhD at TU Delft requires English proficiency at a certain level to ensure that the candidate is able to communicate and interact well, participate in English-taught Doctoral Education courses, and write scientific articles and a final thesis. For more details please check the Graduate Schools Admission Requirements. 

Please note:

• You can apply online. We will not process applications sent by email and/or post. 
• A pre-employment screening can be part of the selection procedure.
• For the final candidates, a knowledge security check will be part of the application procedure. For more information on this check, please consult Chapter 8 of the National Knowledge Security Guidelines. We carry out this check on the basis of legitimate interest.
• Please do not contact us for unsolicited services.