Soft Everting Robots for Exploration, Mapping, and Manipulation in Extreme, Confined Environments.

About the Project

In collaboration with DSTL, the aim of this research is to investigate the capabilities of soft everting robotic systems, such as vine robots, for exploration, mapping, sensing, and environmental manipulation in extreme and confined spaces, with a focus on their adaptability, autonomy, and potential applications in challenging environments.

Objectives:

1. Develop and characterize soft everting robotic systems. Investigate the design, fabrication, and material properties of vine-like robots to optimize their locomotion, durability, and adaptability in extreme and confined environments.
2. Design and integrate autonomous sensing and mapping capabilities. Develop and implement multi-modal sensing strategies (e.g., tactile, visual, acoustic) for real-time environmental perception, localization, and mapping in cluttered or hazardous spaces.
3. Investigate control strategies for autonomous navigation and interaction. Develop adaptive control and planning algorithms that enable reliable movement, obstacle negotiation, and task execution (e.g., sensor deployment, environmental manipulation) in unstructured environments.
4. Evaluate system performance in relevant environments. Conduct experimental validation in simulated and real-world confined environments to assess the effectiveness of the robot’s locomotion, sensing, and autonomy under varying levels of complexity and risk.

Description

Extreme, confined environments—such as unstable collapsed structures, some industrial facilities, or subterranean tunnels and cave systems (either terrestrial or extraterrestrial)—pose significant challenges for exploration, mapping, and intervention. Conventional robots often struggle in these settings due to their rigid structures, limited adaptability, and difficulties in navigating cluttered spaces.

Soft everting robots (e.g., vine robots) offer a promising alternative, thanks to their unique mode of locomotion. The eversion principle entails the ability of the robot to lengthen from the tip, involving no relative movement of the body with respect to the environment and thus avoiding friction from sliding against the surroundings [1]. As a result, these systems can expand along constrained paths and navigate complex environment while minimizing disruptions [1,2].

This PhD project will investigate the potential of these robots in the areas of sensing, autonomous control strategies, navigation, and environmental interaction capabilities. The research will explore material design, sensor integration, and adaptive planning for real-world applications, such as search-and-rescue, infrastructure inspection, and planetary exploration. By developing robust autonomy for these systems, this project aims to expand the operational capabilities of soft robotics in extreme environments.

To Apply: https://eng.ed.ac.uk/spads-cdt/phd-projects/open/soft-everting-robots-exploration-mapping-and-manipulation

About the Programme

SPADS trains the next generation of UK defence engineers in cutting-edge and generation-after-next technologies in the areas of artificial intelligence, sensing and processing, and hardware design.

Through this training, which is co-designed with our industry and government partners, you will over four years become a highly qualified professional engineer, develop the solid technical foundations and skills required to work within multidisciplinary projects, as well as critical regulation and security knowledge to work with national and international companies.

The programme is based in Edinburgh and is delivered jointly by the University of Edinburgh and Heriot-Watt University. All students graduate with a joint degree awarded from both universities.

Equality, diversity and inclusion

The programme aims to promote a culture of inclusion and diversity. In this context, we particularly welcome applications from women and other under-represented groups in science, technology, engineering, and mathematics (STEM).

Funding Notes

TechExpert - £31, 000 Stipend

We are pleased to announce that we are part of the TechExpert pilot offering tax free stipends of £31,000 for students entering in session 2026/27 eligible for home fee status.

International students will receive a tax free stipend, for 2025/26 this was £23,112.

Home rate fees and stipend available for this position.

As part of your funding package you will also receive a generous research training and support grant (RTSG).