Autonomous Loco-Manipulation of Quadruped Robots via Vision-Guided Whole-Body Control

PGR-P-2324

Key facts

Type of research degree: PhD
Application deadline: Friday 14 November 2025
Project start date: Thursday 1 October 2026
Country eligibility: UK only
Funding: Competition funded
Source of funding: Doctoral training partnership
Supervisors: Dr Songyan Xin
Additional supervisors: Prof Robert Richardson
Schools: School of Mechanical Engineering
Research groups/institutes: Institute of Design, Robotics and Optimisation

<h2 class="heading hide-accessible">Summary</h2>

This PhD project develops autonomous loco-manipulation capabilities for quadruped robots equipped with manipulators, enabling them to traverse complex terrain while simultaneously perceiving and manipulating objects through advanced vision-guided whole-body control. This research addresses critical challenges in robotics that will unlock transformative applications in agriculture, infrastructure inspection, disaster response, environmental maintenance, and assistive care for elderly or disabled individuals. By enabling robots to navigate complex terrain while manipulating objects, this technology has the potential to revolutionize how we approach dangerous, repetitive, or physically demanding tasks across multiple sectors. You'll be supervised by Dr. Songyan Xin (Early Career Academic with expertise in legged robot motion planning and control) and Prof. Robert C. Richardson (founder of the internationally recognized Real Robotics Lab). The Real Robotics Lab provides world-class facilities including quadruped robots, manipulators, and state-of-the-art experimental platforms essential for this cutting-edge research. An inclusive environment and supportive application process: As an international research-intensive university, we welcome students from all walks of life and from across the world. We foster an inclusive environment where all can flourish and prosper, and we are proud of our strong commitment to student education. Interested? Discuss this PhD Opportunity with Dr. Songyan Xin by contacting: s.xin@leeds.ac.uk

<h2 class="heading hide-accessible">Full description</h2>

Background: Autonomous mobile manipulation represents one of the most challenging frontiers in robotics, requiring seamless integration of perception, planning, and control across multiple subsystems. While significant advances have been made in legged locomotion and robotic manipulation independently, combining these capabilities in unstructured environments remains largely unsolved. This PhD project addresses this gap by developing vision-guided whole-body control strategies that enable quadruped robots to perform complex loco-manipulation tasks autonomously. The research builds on the supervisory team's proven expertise in dynamic loco-manipulation, evidenced by successful complex task implementation with quadrupedal mobile manipulators and management of the EPSRC-supported TeLeMan project. The project leverages the world-class facilities of the Real Robotics Lab, ensuring access to all necessary robotic platforms and experimental infrastructure. Research objectives: Aim: To develop autonomous loco-manipulation capabilities for quadruped robots equipped with manipulators using vision-based whole-body control, enabling robust operation in unstructured environments. Key Objectives: <ul> <li>Develop vision-based perception algorithms for real-time environment understanding and object detection using image inputs </li> <li>Design whole-body control strategies that integrate locomotion and manipulation, ensuring stability and precision through both model-based and learning approaches </li> <li>Validate the developed system on physical quadruped robots in realistic scenarios, culminating in outdoor demonstrations such as autonomous waste collection </li> <li>Methodology: The project combines model-based control for precise manipulation with model-free learning for robust locomotion, integrating these approaches to get the best of both worlds. The combined control system will be guided by an integrated perception system to allow autonomous loco-manipulation. </li> </ul> Training and Career Development This PhD offers exceptional training opportunities in cutting-edge robotics, computer vision, control theory, and machine learning. You'll gain hands-on experience with advanced robotic platforms and software tools, while developing expertise highly valued in both academic and industrial settings. The project provides opportunities to: <ul> <li>Present research at leading international conferences </li> <li>Publish in top-tier robotics journals </li> <li>Engage with industry partners and collaborative research networks </li> <li>Develop transferable skills in project management and scientific communication </li> <li>Participate in public demonstrations and outreach activities </li> <li>The interdisciplinary nature of this research ensures broad career opportunities in academia, robotics industry, autonomous systems companies, and technology consultancy. </li> </ul> Skills Required Essential: <ul> <li>Strong background in robotics, control systems, or related engineering disciplines </li> <li>Programming experience (Python, C++) </li> <li>Understanding of fundamental concepts in robotics (kinematics, dynamics, control) </li> <li>Mathematical foundation in linear algebra, optimization, and probability </li> </ul> Desirable: <ul> <li>Experience with computer vision and machine learning </li> <li>Familiarity with robotic simulation environments (Mujoco, Isaac Sim, or similar) </li> <li>Practical experience with robotic hardware </li> <li>Knowledge of whole-body control or mobile manipulation </li> </ul> The Research Environment The Real Robotics Lab, founded by Prof. Richardson, is an internationally recognized center for robotics research providing access to state-of-the-art facilities including quadruped robots, manipulators, and advanced sensor systems. The lab maintains strong industry connections and collaborative partnerships, offering excellent networking opportunities and potential career pathways. The School of Mechanical Engineering at the University of Leeds provides a vibrant research environment with world-class expertise in robotics and autonomous systems, supported by substantial strategic investments in cutting-edge research infrastructure. Our Commitment to an Inclusive, Equitable and Diverse Research Community: As an international research-intensive university, we welcome students from all walks of life and from across the world. Across all Faculties we are dedicated to diversifying our community and we welcome the unique contributions that individuals can bring, and particularly encourage applications from, but not limited to Black, Asian, people who belong to a minority ethnic community, people who identify as LGBT+ and people with disabilities. Applicants will always be selected based on merit and ability. We can help support your application! – <a href="https://contextualoutreach.leeds.ac.uk/pgr-diversity/access-to-research/">Contact our Access to Research Team</a> Why Study for a PhD at the School of Mechanical Engineering, University of Leeds? The School of Mechanical Engineering at Leeds is a globally recognised centre of excellence, offering PhD students the opportunity to contribute to impactful research across diverse and cutting-edge fields. With 96% of research rated as “world-leading” or “internationally excellent” (REF 2021), the School is home to four specialist research institutes: <ul> <li>Institute of Medical and Biological Engineering – Pioneering innovations in joint replacement and regenerative medicine, with research that has influenced international clinical standards and improved outcomes for over a million patients </li> <li>Institute of Thermofluids – Tackling global challenges in energy, transport, and sustainability through advanced fluid dynamics and heat transfer research</li> <li>Institute of Functional Surfaces – Leading work in tribology, corrosion, and surface engineering, with applications in energy, carbon abatement, aerospace, automotive, and biomedical sectors</li> <li>Institute of Design, Robotics and Manufacturing (iDRaM) iDRaM brings together over 100 researchers and technical staff to tackle complex challenges in design, robotics, and advanced manufacturing. The institute is renowned for achieving real-world impact in applications spanning healthcare, aerospace, and industrial automation.</li> </ul> PhD students benefit from access to state-of-the-art facilities, including UK-leading labs and simulation platforms, and are supported by the Leeds Doctoral College, which provides tailored training, wellbeing services, and career development opportunities. The School maintains strong industry links with organisations such as GE Global Research, Johnson & Johnson, Honeywell, AECOM, Infineum and Total Energies, offering students opportunities to engage in collaborative projects, attend industry seminars, and build networks that support future careers in academia or industry Join a vibrant, international research community in a dynamic city, and be part of a university committed to solving real-world problems through engineering innovation. The Institute of Design, Robotics and Manufacturing (iDRAM) <div> <div> <div id="_com_1" language="JavaScript"> The Institute of Design, Robotics and Manufacturing (iDRAM) at the University of Leeds is shaping the future of sustainable, digitally enabled engineering. Research here focuses on Industry 4.0 technologies, including smart manufacturing, robotics, and advanced design systems, to create cleaner, more efficient production processes. PhD students at iDRAM work on projects that integrate automation, AI, and data-driven optimisation to reduce waste, improve energy efficiency, and enable circular economy principles in manufacturing. The institute’s expertise spans digital twins, additive manufacturing, and intelligent robotics, all critical for achieving sustainable industrial transformation. With access to cutting-edge facilities such as the EPSRC National Facility for Innovative Robotics Systems and strong partnerships with global industry leaders, students gain hands-on experience in technologies driving the green industrial revolution. By joining iDRAM, PhD researchers become part of a multidisciplinary team committed to delivering sustainable solutions for sectors from aerospace to healthcare—developing the skills to lead in a world where digital innovation and environmental responsibility go hand in hand. </div> </div> </div>

<h2 class="heading">How to apply</h2>

Formal applications for research degree study should be made online through the <a href="https://www.leeds.ac.uk/research-applying/doc/applying-research-degrees">University's website</a>. Please state clearly in the Planned Course of Study section that you are applying for EPSRC DTP Engineering & Physical Sciences and in the research information section that the research degree you wish to be considered for is Autonomous Loco-Manipulation of Quadruped Robots via Vision-Guided Whole-Body Control as well as <a href="https://eps.leeds.ac.uk/mechanical-engineering/staff/15440/songyan-xin">Dr Songyan Xin </a>as your proposed supervisor. Please state in the Finance section that you are applying for the EPSRC Doctoral Landscape Award 2026/27: Mechanical Engineering. If English is not your first language, you must provide evidence that you meet the University's minimum English language requirements (below). Applications will be considered after the closing date. Potential applicants are strongly encouraged to contact the supervisors for an informal discussion before making a formal application. We also advise that you apply at the earliest opportunity as the application and selection process may close early, should we receive a sufficient number of applications or that a suitable candidate is appointed. Please note that you must provide the following documents in support of your application by the closing date of Friday 14 November 2025: <ul> <li>Full Transcripts of all degree study or if in final year of study, full transcripts to date including grading scheme</li> <li>Personal Statement outlining your interest in the project</li> <li>CV</li> </ul> As an international research-intensive university, we welcome students from all walks of life and from across the world. We foster an inclusive environment where all can flourish and prosper, and we are proud of our strong commitment to student education. Across all Faculties we are dedicated to diversifying our community and we welcome the unique contributions that individuals can bring, and particularly encourage applications from, but not limited to Black, Asian, people who belong to a minority ethnic community, people who identify as LGBT+ and people with disabilities. Applicants will always be selected based on merit and ability.

<h2 class="heading heading--sm">Entry requirements</h2>

Applicants to research degree programmes should normally have at least a first class or an upper second class British Bachelors Honours degree (or equivalent) in an appropriate discipline. The criteria for entry for some research degrees may be higher, for example, several faculties, also require a Masters degree. Applicants are advised to check with the relevant School prior to making an application. Applicants who are uncertain about the requirements for a particular research degree are advised to contact the School or Graduate School prior to making an application.

<h2 class="heading heading--sm">English language requirements</h2>

The minimum English language entry requirement for research postgraduate research study is an IELTS of 6.0 overall with at least 5.5 in each component (reading, writing, listening and speaking) or equivalent. The test must be dated within two years of the start date of the course in order to be valid. Some schools and faculties have a higher requirement.

<h2 class="heading">Funding on offer</h2>

A highly competitive EPSRC Doctoral Landscape Award providing full academic fees, together with a tax-free maintenance grant at the standard UKRI rate (£20,780 in academic session 2025/26) for 3.5 years. Training and support will also be provided. This opportunity is open to UK applicants only. All candidates will be placed into the EPSRC Doctoral Landscape Award Competition and selection is based on academic merit. Please note that there is only 2 funded place(s) available and there are 17 projects in competition for this funding. If you are successful in securing an academic offer for PhD study, this does not mean that you have been successful in securing an offer of funding. Please refer to the <a href="https://eur03.safelinks.protection.outlook.com/?url=https%3A%2F%2Fwww.ukcisa.org.uk%2F&data=05%7C02%7CJ.S.Hewer%40leeds.ac.uk%7C07632c93c06a442dca3d08ddfc172939%7Cbdeaeda8c81d45ce863e5232a535b7cb%7C0%7C0%7C638943898649349324%7CUnknown%7CTWFpbGZsb3d8eyJFbXB0eU1hcGkiOnRydWUsIlYiOiIwLjAuMDAwMCIsIlAiOiJXaW4zMiIsIkFOIjoiTWFpbCIsIldUIjoyfQ%3D%3D%7C0%7C%7C%7C&sdata=nylGSov8jOc7hr6X%2FmfnfQPecbVUnGqgoSqVgPGy5K0%3D&reserved=0">UKCISA</a> website for information regarding Fee Status for Non-UK Nationals.

<h2 class="heading">Contact details</h2>

For further information about this project, please contact Dr Songyan Xin by email to <a href="mailto:S.Xin@leeds.ac.uk">S.Xin@leeds.ac.uk</a> For further information about your application, please contact PGR Admissions by email to <a href="mailto:phd@engineering.leeds.ac.uk">phd@engineering.leeds.ac.uk</a>

<h3 class="heading heading--sm">Linked funding opportunities</h3>