Antunes studied singing and conducting at the University of São Paulo, achieved recognition as assistant conductor of the São Paulo Youth Symphony Orchestra and obtained a DAAD scholarship to complete his studies on at the Musikhochschule Köln in Germany, where he graduated in 1990.
Following his debut with the Neues Rheinisches Kammerorchester at the Kölner Philharmonie, he was appointed its Chief Conductor, a post he held from 1994 until 1998.
Between 2002 and 2007, Antunes was the Artistic Director and Chief Conductor of The National Chamber Choir of Ireland.
He also returns annually to conduct in Brazil, where he appears with the Camerata Fukuda and with the São Paulo State Symphony.
In August 2004, Antunes was bestowed the honour of the Order of Rio Branco, in the rank of Commander, by the Brazilian government, for the extraordinary artistic services rendered to his native Brazil.