Dr Martin Stoelen

Dr Martin Stoelen

Lecturer in Robotics

School of Engineering, Computing and Mathematics (Faculty of Science and Engineering)


  • Ph.D. in Electrical Engineering, Electronics and Automation ("Sobresaliente Cum Laudem"), 2010 - 2014 Universidad Carlos III de Madrid (UC3M), Spain
  • Master in Robotics and Automation ("Matrícula de Honor"), 2008 – 2010 Universidad Carlos III de Madrid (UC3M), Spain
  • Master of Science (M.Sc.), Aerospace Engineering, 2005 – 2008 University of Maryland (UMD), College Park, USA
  • Master of Engineering (M.Eng.), Aerospace Engineering & Astronautics, with Distinction, 2001 – 2005 Kingston University, London, UK

Professional membership

  • IEEE (2006 – present): member
  • ACM (2007 – present): member
  • HFES (2009 – present): member
  • EUCognition (2012 - present): member
  • RobotDoc (2012 – present): associate fellow

Teaching interests

Module Leader:

  • ROCO504 “Advanced Robot Design”
  • ROCO224 “Introduction to Robotics” 
    • Previously ROCO216/217
    • Forward and inverse kinematics
    • Statics and structural analysis
    • Robot control and programming
  • AINT153PP “Intelligent Systems”, co-taught
    • Introduction to intelligence
    • Mobile robot behaviours
Also teaching:
  • AINT514 “Computer Science Workshop”
  • AINT511 “Topics in Advanced Intelligent Robotics”
  • ROCO050 “Electronics & Robotics”
Other responsibilities:
  • Exam Coordinator, Computing
  • Programme Manager, MSc Robotics (from 2018/2019)

Research interests

See my up-to-date ResearchGate profile: https://www.researchgate.net/profile/Martin_Stoelen

Grants & contracts

  • Grant: CASTOR, 2018-2020
    • Royal Academy of Engineering - Industry Academia Partnership Programme, UK/Colombia
    • Funding: £50,000 total
    • Co-Investigator, Principal Investigator: Prof. Dr. Carlos A. Cifuentes G.
  • Grant: Robotic Fruit & Vegetable Picker Videos, 2018
    • SEI Creative Associate Awards, Plymouth University
    • Funding: £2,000
    • Principal Investigator (PI), Creative Associate: Danny Cooke
  • Grant: China Robot Harvest++, 2018-2019
    • Newton Fund, UK
    • Funding: £72,000
    • Principal Investigator (PI), Co-Investigator: Prof. Mick Fuller
  • Grant: China Robot Harvest, 2017-2018
    • Newton Fund, UK
    • Funding: £50,000
    • Principal Investigator (PI), Co-Investigator: Prof. Mick Fuller
  • Grant: Autonomous Brassica harvesting in Cornwall (ABC), 2017-2020
    • European Regional Development Fund (ERDF)
    • Agri-tech in Cornwall
    • Funding: £216,000
    • Principal Investigator (PI)
  • Grant: Fieldwork Robotics Ltd, 2017
    • Spin-out company at Plymouth University
    • HEIF Proof of Concept, Plymouth University
    • Funding: Approx. £50,000
    • Director and co-founder
  • Grant: Compliant Autonomous Systems for Agriculture (CASA), 2016 - 2019
    • HEIF Proof of Concept, Plymouth University
    • Funding: £29,100
    • Principal Investigator. Co-investigator: Prof. Angelo Cangelosi
  • Fellowship: Developmental Context-driven Robot learning (DeCoRo), 2014-2016
    • Marie Curie Intra-European Fellowship for Career Development (IEF), EU FP7
    • Funding: €230,000 
    • Website: http://www.tech.plym.ac.uk/SoCCE/CRNS/decoro/
    • Supervisor: Prof. Angelo Cangelosi

Key publications

Key publications are highlighted

Casas-Bocanegra D, Gomez-Vargas D, Pinto-Bernal MJ, Maldonado J, Munera M, Villa-Moreno A, Stoelen MF, Belpaeme T & Cifuentes CA 2020 'An Open-Source Social Robot Based on Compliant Soft Robotics for Therapy with Children with ASD' Actuators 9, (3) 91-91 , DOI
Tejada VF, Stoelen MF, Kusnierek K, Heiberg N & Korsaeth A 2017 'Proof-of-concept robot platform for exploring automated harvesting of sugar snap peas' Precision Agriculture , DOI PEARL
Stoelen MF, Tejada VF, Jardón A, Bonsignorio F & Balaguer C 2016 'Adaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance' Paladyn, Journal of Behavioral Robotics 7, (1) , DOI PEARL
Stoelen MF, de Tejada VF, Huete AJ, Balaguer C & Bonsignorio FP 2015 'Distributed and Adaptive Shared Control Systems: Methodology for the Replication of Experiments' IEEE Robotics & Automation Magazine 22, (4) 137-146 , DOI PEARL
Jardon A, Stoelen MF, Bonsignorio F & Balaguer C 2011 'Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot' IEEE Transactions on Robotics 27, (6) 1132-1137 , DOI
Stoelen MF & Akin DL 2010 'Assessment of Fitts’ Law for Quantifying Combined Rotational and Translational Movements' Human Factors: The Journal of the Human Factors and Ergonomics Society 52, (1) 63-77 , DOI
Duckett T; Pearson S; Blackmore S; Grieve B 2018 Agricultural Robotics: The Future of Robotic Agriculture. Engineering and Physical Sciences Research Council (EPSRC)
Stoelen MF, Marocco D, Bonsignorio F & Cangelosi A 2019 'Measuring Progress on an Approach for Interactive Learning of Context-Driven Actions' Cognitive Systems Monographs Springer International Publishing 127-145 , DOI
Stoelen MF, Bonsignorio F & Cangelosi A 2016 'Co-exploring Actuator Antagonism and Bio-inspired Control in a Printable Robot Arm' From Animals to Animats 14 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Aberystwyth, UK, August 23-26, 2016, Proceedings Springer 244-255 Author Site , DOI PEARL
Conference Papers
Klein FB, Wilmot A, de Tejada VF, Rodriguez BL, Requena I, Busch S, Rondepierre A, Auzeeri T, Sauerwald T & Andrews WFP 2019 'Proof-of-concept modular robot platform for cauliflower harvesting' 12th European Conference on Precision Agriculture Wageningen Academic Publishers , DOI PEARL
Mohamed A, Shaw-Sutton J, Green BM, Andrews W, Rolley-Parnell EJ, Zhou Y, Zhou P, Mao X, Fuller MP & Stoelen MF 2019 'Soft manipulator robot for selective tomato harvesting' 12th European Conference on Precision Agriculture Wageningen Academic Publishers , DOI PEARL
Kurrek P, Jocas M, Zoghlami F, Stoelen M & Salehi V 2019 'Ai Motion Control – A Generic Approach to Develop Control Policies for Robotic Manipulation Tasks' Cambridge University Press (CUP) 3561-3570 , DOI
Smith O, White S & Stoelen M 2019 'Eduardo: A Low Cost Assistive Robot Development Platform, Featuring a Compliant End Effector' Springer International Publishing 39-48 , DOI
Harding R, Freestone C & Stoelen MF 2019 'Mine Detonating Sphere-Bot' Springer International Publishing 460-472 , DOI
Bridge G, Raach M & Stoelen MF 2017 'Jellyfish inspired soft robot prototype which uses circumferential contraction for jet propulsion' 61-72 , DOI PEARL
Sheard J, Draper R, Troughton M & Stoelen MF 2017 'Soft robotic snake with variable stiffness actuation' 363-377 , DOI PEARL
de Azambuja R, Garcia D, Stoelen MF & Cangelosi A 2017 'Neurorobotic Simulations on the Degradation of Multiple Column Liquid State Machines' International Joint Conference on Neural Networks (IJCNN 2017) Anchorage, Alaska, USA 5-/-0/20175-/-0/2017PEARL
de Azambuja R, Klein FB, Adams SV, Stoelen MF & Cangelosi A 2017 'Short-Term Plasticity in a Liquid State Machine Biomimetic Robot Arm Controller' International Joint Conference on Neural Networks (IJCNN 2017) Anchorage, Alaska, USA 5-/-0/20175-/-0/2017PEARL
de Azambuja R, Klein FB, Stoelen MF, Adams SV & Cangelosi A 2016 'Graceful Degradation Under Noise on Brain Inspired Robot Controllers' Springer International Publishing 195-204 , DOI PEARL
Stoelen MF, Kusnierek K, Tejada VF, Heiberg N, Balaguer C & Korsaeth A 2015 'Low-cost robotics for horticulture: a case study on automated sugar pea harvesting' Wageningen Academic Publishers 283-290 , DOI
Stoelen MF, Tejada VF, Huete AJ, Bonsignorio F & Balaguer C 2014 'Distributed sensing, learning and control in an assistive manipulator' 2014 IEEE International Symposium on Intelligent Control (ISIC) 0-/-1/20140-/-1/2014IEEE , DOI
Stoelen MF, Marocco D, Cangelosi A, Bonsignorio F & Balaguer C 2014 'Predictive Hebbian association of time-delayed inputs with actions in a developmental robot platform' 700-707 , DOI
Stoelen MF, Tejada VF, Victores JG, Jardoan Huete A, Bonsignorio F & Balaguer C 2013 'Adaptive collision-limitation behavior for an assistive manipulator' 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013) 1-/-1/20131-/-1/2013IEEE , DOI
Stoelen MF, Bonsignorio F, Balaguer C, Marocco D & Cangelosi A 2012 'Online learning of sensorimotor interactions using a neural network with time-delayed inputs' 2012 IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL) 1-/-1/20121-/-1/2012IEEE , DOI
Stoelen MF, Tejada VF, Huete AJ, Bonsignorio F & Balaguer C 2012 'Benchmarking shared control for assistive manipulators: From controllability to the speed-accuracy trade-off' 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012) 0-/-1/20120-/-1/2012IEEE , DOI
Stoelen MF, Jardón Huete A, Fernández V, Balaguer C & Bonsignorio F 2011 'An information-theoretic approach to modeling and quantifying assistive robotics HRI' the 6th international conference 3-/-0/20113-/-0/2011ACM Press , DOI
Jardón A, González JC, Stoelen M, Martínez S & Balaguer C 2009 'ASIBOT assistive robot in a domestic environment' the 2nd International Conference 6-/-0/20096-/-0/2009ACM Press , DOI
Stolen MF, Dillow B, Jacobs SE & Akin DL 2008 'Interface for EVA Human-Machine Interaction' International Conference On Environmental Systems SAE International , DOI
Jacobs SE, Stolen MF, Roderick S & Akin DL 2007 'Advanced space suit design within a human-robotic architecture' 1690-1700
Dobrosielski J, Gray T, Nhan A & Stolen M 2007 'Carpool.UMD' CHI '07 extended abstracts 4-/-0/20075-/-0/2007ACM Press , DOI