Silvia Tolu

Silvia Tolu



Building: 326, 110

2800 Kgs. Lyngby


Phone: 45253928



2008 - 2012 PhD in Computer Science - University of Granada, Department of Computer Architecture and Technology (ATC), Spain
2007 - 2008 Research Assistant - University of Granada, Department of Computer Architecture and Technology (ATC), Spain
1999 - 2004 Bachelor in Electronic Engineering degree - University of Cagliari
2004 - 2006 Master in Electronic Engineering degree - University of Cagliari
2007 - 2008 Master in Computing Networks Engineering degree - University of Granada, Spain
2010 - 2012 Master in Linguistics applied to the teaching of Spanish as a foreign language degree - University of Antonio de Nebrija, Madrid, Spain

Academic grades

Philosophiae Doctor (Ph.D) in Computer Science. Philosophiae Doctor (Ph.D) in Computer Science.Philosophiae Doctor (Ph.D) in Computer Science.Thesis title: Bio-Inspired Motor Learning Models for Robot Control. Honours and Awards: Cum Laude Granted by the European project “Sensopac” and the Sardinian program “Master & Back”. Department of Computer Architecture and Technology (ATC), University of Granada, Spain. Sept. 2008 to March 2012

Professional experience

2015 - PostDoc - Technical University of Denmark (DTU), Department of Electrical Engineering - Center for Playware, DTU Elektro
2014 - 2014 Robotics consultant - CNR Institute and Telecommunications (IEIIT) / Telecom Italia SpA, Genova, Italy, Information Engineering and Telecommunications (IEIIT)
2008 - 2012 PhD Student - University of Granada, Spain, Department of Computer Architecture and Technology (ATC)
2004 - 2006 Site Manager in the Facility Management Area for Nazca Ltd, Milan, Italy - Nazca Ltd, Milan, Italy.


English, Spanish, Italian (Mother tongue), French a2, Danish (a2)


Adaptive control; Motor control and motor learning; Cerebellar learning; Machine learning (LWPR);  Neuro-robotics;  Bio-inspired control system models; Modular robotics; Cloud or Service Robotics (ROS).

International experience

11/2008 to 03/2009 - Visiting research student at Institute of Perception, Action and Behavior (IPAB) at the School of Informatics, University of Edinburgh, UK. Work on a comparison of different learning architectures and study how sætte the LWPR algorithm two themself (Advisors: Professor Dr. Sethu Vijayakumar, Dr. Stefan Klanke).


Participation in International Projects

2007 - 2010 European Project: Sensopac, University of Granada, Spain, Department of Computer Architecture and Technology (ATC).

2016 - 2018 European Project: Human Brain Project, HBP SP 10 - SGA1, University of Denmark, Center for Playware, DTU ELEKTRO.

Other information

Publications in Engineering

  1. L. Vannucci, E. Falotico, S. Tolu, V. Cacucciolo, P. Dario, H. Hautop Lund and C. Laschi, A comprehensive gaze stabilization controller based on cerebellar internal models. Bioinspiration & Biomimetics, 2017.

  2. I. Baira, S. Tolu, M. Pacheco, D. J. Christensen, H. H. Lund (2017), A Combination of Machine Learning and Cerebellar-like Neural Networks for the Motor Control and Motor Learning of the Fable Modular Robot. Journal of Robotics, Networking and Artificial Life, 4 (1), pp. 62 - 66.

  3. J.A. Garrido, N. R. Luque, S. Tolu, E. D'Angelo (2016), Oscillation-driven Spike-timing Dependent Plasticity Allows Multiple Overlapping Pattern Recognition in Inhibitory Interneuron Networks. International Journal of Neural Systems, 26 (4), pp. 1-27.

  4. S. Tolu, M. Vanegas, JA Garrido, NR Luque, E. Ros. (2013), Adaptive and Predictive Control of a Simulated Robot Arm.  International  Journal of Neural Systems, 23 (3), doi: 10.1142 / S012906571350010X.

  5. S. Tolu, M. Vanegas, N. R. Luque, J. A. Garrido, and E. Ros. (2012) Bio-inspired adaptive feedback error learning architecture for motor control.  Biological Cybernetics, vol. 106, pp. 507-522.

  6. S. Tolu, M. Vanegas, R. Agis, R.R. Carrillo, A. Cañas. (2012), Dynamics Model Abstraction Scheme Using Radial Basis Functions.  Journal  of Control Science and Engineering, vol. 2012, doi: 10.1155 / 2012/761019.

  7. N. R. Luque, J. A. Garrido, R.R. Carrillo,  S. Tolu, E. Ros. (2011), Adaptive cerebellar spiking model embedded in the control loop: Context switching and robustness against noise.  International Journal of Neural  Systems, 21 (5), pp. 385-401.

  8. R.R. Carrillo, E. Ros,  S. Tolu, T. Nieus, E. D'Angelo. (2008) Event-driven simulation of cerebellar granule cells.  Biosystems 94 (1-2), pp.10-17.

International conferences

  1.  S. Tolu, E. Falotico, M. C. Capolei, C. Laschi, L. Vannucci, C. Corchado, H.H. Lund, Cerebellar Models for Robotic Applications. Poster presentation at The Human Brain Project Summit, Glasgow, Octuber 2017.

  2. I. Baira* Ojeda, S. Tolu*, H. H. Lund (2017) A Scalable Neuro-inspired Robot Controller Integrating a Machine Learning Algorithm and a Spiking Cerebellar-Like Network. In: Mangan M., Cutkosky M., Mura A., Verschure P., Prescott T., Lepora N. (eds) Biomimetic and Biohybrid Systems. Stanford University, California, Living Machines 2017, July 26-28. Lecture Notes in Computer Science, vol. 10384, pp. 375-386. Springer. (* = equal contributions).

  3. I. Baira, S. Tolu,  M. Pacheco, J. D. Christensen, H. H. Lund, A Combination of Machine Learning and Cerebellar Models for the Motor Control and Learning of a Modular Robot, ICAROB Proceedings of the International Conference on Artificial Life and Robotics, Miyazaki, Japan, 2017.

  4. I. Baira, S. Tolu,  M. Pacheco, J. D. Christensen, H. H. Lund, Neural Control of a Modular Robot, Poster presentation at The Human Brain Project Summit, Florence, Italy, 2016.

  5. L. Vannucci, E. Falotico,  S. Tolu, P. Dario, H. H. Lund, and C. Laschi, "Eye-Head Stabilization mechanism of a humanoid robot tested on human intertial data", 5th International Conference, 2016 Living Machines, Edinburgh, UK, July 19-22. Biomimetic BioHybrid and Systems Proceedings, Springer 2016.

  6. L. Vannucci*,  S. Tolu *, E. Falotico*, P. Dario, H. H. Lund, C. Laschi, "Adaptive gaze stabilization through cerebellar internal models in a humanoid robot", 6th IEEE RAS / EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016 IEEE (* = equal contributions).

  7. S. Tolu, E. Ros, and R. Agis. Bio-inspired control model for object manipulation by humanoid robots, in: International Work Conference on Artificial Neural Networks (Iwann 2007), San Sebastian, Spain, LNCS, vol. 4507, 813-820, 2007.

  8. R. R. Carrillo, E. Ros  S. Tolu, and T. Nieus. Event-driven simulation of cerebellar granule cells, in: Seventh International Workshop on Information Processing in Cells and Tissues (IPCAT 2007), Oxford, 2007.
  9. R.R. Carrillo, J. A. Garrido, E. Ros,  S. Tolu, C. Boucheny, and O. Coenen. A realtime spiking cerebellar model for learning robot control, in: International Conference On Cognitive Systems (COGSYS 2008), Karlsruhe, Germany, 2008.


  1. 4th EU-Japan Workshop on Neurorobotics, Embodiment of Informatics with Neurorobotics. Talk title: Using robots for understanding the cerebellar role in sensorimotor control, AIST Tokyo Waterfront, Tokyo, April 18-20, 2018.
  2. 3rd HBP Education Workshop - Future Computing. Poster presentation: A modular cerebellar based control architecture for a modular robot, S. Tolu, D.J. Christensen, H.H. Lund. 11th two 15th December 2016 Shrigley Hall Hotel, Manchester, UK.
  3. Embodied Workshop on Artificial Intelligence Presentation: Human Brain Project (HBP) and embodied AI. IT University of Copenhagen, Denmark, May 2015.

Invited talks

  1. Euro Asia Pacific Joint Conference on Cognitive Science (Eapcogsci - Sept. 2015). Talk: " Cerebellar internal model for a modular robot". Symposium on Brain-supported learning algorithms for robots. Torino, Italy.
  2. 4th Neuro Robotics Performance Show, Human Brain Project (SP10).  Talk: A bio-inspired motor learning and control approach for a modular robot. The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Pisa, Italy, July 2015.
  3. Embodied Artificial Intelligence Workshop. Talc: " Human Brain Project and embodied AI". IT University, Copenhagen, Denmark, 11 May 2015.
  4. Genil Project ( Talk: " Bio-inspired learning Mechanisms for motor control", University of Granada (UGR), Spain, 12 March 2015.
  5. Lan Party. Talk: " Humanoids Robots: sina programming and use in the research", Ceuta, Spain, 6-7 July 2007.

Supervised works

Master thesis

  • I. Baira Ojeda, Scaling up a Modular Cerebellar Model for Neural Control of Fable Robot, Technical University of Denmark (DTU), June 2016. Supervisors: Silvia Tolu, David Johan Christensen, Henrik Hautop Lund and Antonio Barrientos Cruz.

Special Courses

  • Paul Schreiner, Survey of bio-inspired modular robots, Technical University of Denmark (DTU), July 2016.
  • Peter Juhl Savnik, Modeling and Simulation of a Simple Spiking Neural Network on a Dedicated Hardware Platform, Technical University of Denmark (DTU), December 2015. 

Research Immersion Courses

  • Hubert Deng, Implementation of a modular robotics system with the Spinnaker board for spiking neural networks. Technical University of Denmark (DTU), July 2017.
  • Javier Espadafor,  Development of a prototype of a modular robotic arm/hand.  Technical University of Denmark (DTU), July 2017.

Participation as reviewer

  • Reviewer for SAC 2016, Neuro-Computing. The 31st ACM Symposium On Applied Com. 
  • Member of the Phd Committee for evaluation of PhD thesis: 'Simulation of nervous centres in closed-loop of perception-action' by Francisco Naveros Arrabal. University of Granada, 06 June 2017, Granada, Spain.


Publications in Spanish Teaching or Education

  1. Garrote P. Robles, O. Rodriguez Garcia, e  S. Tolu, (2013). "De cine. Para una secuencia didáctica niveles B1-B2". In  Azulejo para el aula de Español, Journal of the  Education Counseling in Portugal, nº 6, pp. 26-34, ISSN: 1647-0834. Available in:
  2. S. Tolu (2012). La combinación lexica en las lenguas afines. Analisis de guiones para la presentacion oral de estudiantes universitarios italianos de español como lengua extranjera. In REDELE, Biblioteca Virtuale, n. 13.


  • Marie Curie grant (n.705100) Title: Biomodular - A Biomimetic Learning Control Scheme for control of Modular Robots, Research Executive Agency (Brussels, Bélgica), 02/2017 - 02/2019.
  • "Alta Formazione" Program, Sardinian Agency (Cagliari, Italia), 2009-2011.
  • Sardinian Program "Master & Back",  Agenzia Regionale Sardinia (Cagliari, Italia), 2007-2008. 


Maternity leaves from 1st of August 2012 two 1st of Octuber 2013 and from 1st of May 2016 two 31st of January 2017.

My links

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  • International Journal of Neural Systems

    ISSNs: 0129-0657

    Additional searchable ISSN (Electronic): 1793-6462

    World Scientific Publishing Co. Pte. Ltd., Singapore

    BFI (2018): BFI-level 1, Scopus rating (2016): CiteScore 5.16 SJR 1.121 SNIP 1.519, ISI indexed (2013): ISI indexed yes, Web of Science (2018): Indexed yes

    Central database


  • Biological Cybernetics

    ISSNs: 0340-1200

    Additional searchable ISSN (Electronic): 1432-0770

    Springer, Germany

    BFI (2018): BFI-level 1, Scopus rating (2016): CiteScore 1.8 SJR 0.719 SNIP 0.983, ISI indexed (2013): ISI indexed yes, Web of Science (2018): Indexed yes

    Central database


  • BioSystems

    ISSNs: 0303-2647

    Additional searchable ISSN (Electronic): 1872-8324

    Elsevier Ireland Ltd., Ireland

    BFI (2018): BFI-level 1, Scopus rating (2016): CiteScore 1.64 SJR 0.536 SNIP 0.839, ISI indexed (2013): ISI indexed yes, Web of Science (2018): Indexed yes

    Central database


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