Robotics Engineer - Whole-Body Control
Core
Design and tune whole-body controllers for locomotion and loco-manipulation, and build state estimation systems for a general-purpose humanoid robot.
Role type
Senior IC robotics engineer (whole-body control & state estimation)
Builds
Control stack and state estimation software for humanoid robots
Domain
Robotics, Humanoid locomotion, Real-time control
Deliverable
production ML models
Required skills
Whole-body control (QP inverse dynamics, MPC, task-space/hierarchical), State estimation (floating-base, contact detection, sensor fusion), C++, Real-time systems (PREEMPT_RT, RTOS), Rigid-body dynamics, Numerical optimization (Pinocchio, Crocoddyl), Legged/humanoid robot hardware integration
Preferred skills
MuJoCo, Isaac Sim, Loco-manipulation, Force/impedance control
Responsibilities
Design and tune whole-body controllers for locomotion and loco-manipulation; Build state estimation on the real robot; Formulate and solve real-time optimal control problems; Characterize actuator behavior and design controllers within real hardware limits; Combine model-based control with learned policies
Seniority
Senior, hands-on IC
