Multi-arm and Constrained Manipulation
About the Project
Robotics applications in surgical, space, scientific, and nuclear domains often demand dexterous manipulation in constrained spaces. These applications can be considered critical; unexpected or unwanted robot motion in a given direction can be catastrophic and may expose people to harm.
There are multiple solutions related to robot control—e.g., control‑barrier functions—that allow guaranteed safe control under reasonable assumptions. Nonetheless, real applications demand reactive capabilities that can account for a changing environment. This may be due to deformable or biological materials, or the removal of surfaces and objects that cause an overall change in the topology of the workspace. The robot can be fixed, mobile, or legged, as long as it has arms for efficient manipulation.
This project is focused on the fundamental aspects of constrained manipulation, aiming at relevant deployment in one or more of the topics described above. At least one of the following will be explored in this research:
- Effective model‑based constrained optimisation approaches for dexterous manipulation in constrained workspaces using multiple robotic arms.
- Data‑driven approaches to represent a changing environment and methods to integrate this information into model‑based approaches.
The project can be based in Manchester, in which case the candidate will be located in the Nancy Rothwell Building, as a member of the Control Systems and Robotics Group (https://uom-csrgroup.uk). At the candidate’s discretion, it can also be based entirely or partially at RAICo1 (https://hotrobotics.co.uk/facilities/university-of-manchester-2/), located in Whitehaven, Cumbria. Our facilities are well equipped with a range of robotic systems, including UR30, UR3e, KUKA R820 Med, and Kinova arms. Facilities also include a range of aerial, mobile, and legged robots, which can be used by the candidate if relevant.
Eligibility
Applicants should have, or expect to achieve, at least a 2.1 honours degree or a master’s (or international equivalent) in a relevant science or engineering related discipline.
Funding
This is a 3.5-year PhD. Excellent candidates will be nominated for competence-based faculty funding through the School of Engineering. The funding covers tuition fees and provides a tax-free stipend based on the UKRI rate (£20,780 for 2025/26). We expect the stipend to increase each year.
Self funded students are also welcome to apply.
We recommend that you apply early as the advert may be removed before the deadline.
Before you apply
We strongly recommend that you contact the supervisor for this project before you apply. Please include details of your current level of study, academic background and any relevant experience and include a paragraph about your motivation to study this PhD project.
How to apply
Apply online through our website: https://uom.link/pgr-apply-2425
When applying, you’ll need to specify the full name of this project, the name of your supervisor, if you already having funding or if you wish to be considered for available funding through the university, details of your previous study, and names and contact details of two referees.
Your application will not be processed without all of the required documents submitted at the time of application, and we cannot accept responsibility for late or missed deadlines. Incomplete applications will not be considered.
After you have applied you will be asked to upload the following supporting documents:
- Final Transcript and certificates of all awarded university level qualifications
- Interim Transcript of any university level qualifications in progress
- CV
- Supporting statement: A one or two page statement outlining your motivation to pursue postgraduate research and why you want to undertake postgraduate research at Manchester, any relevant research or work experience, the key findings of your previous research experience, and techniques and skills you’ve developed. (This is mandatory for all applicants and the application will be put on hold without it).
- Contact details for two referees (please make sure that the contact email you provide is an official university/work email address as we may need to verify the reference)
- English Language certificate (if applicable)
If you have any questions about making an application, please contact our admissions team by emailing FSE.doctoralacademy.admissions@manchester.ac.uk.
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