Senior Low-level Control Engineer - End-Effectors
Core
Design, implement, and validate actuator- and joint-level controllers and grasp-level behaviors for a family of end-effector variants (parallel/multi-finger grippers, vacuum/suction tooling, purpose-built tooling) on humanoid robots.
Role type
Senior Low-level Control Engineer (Robotics)
Builds
Real-time embedded control software for multi-DoF end-effectors running on ROS2
Domain
Humanoid Robotics, Industrial Automation, Control Systems
Deliverable
production ML models | product features
Required skills
C++ (real-time embedded), Control Theory (PID, feedforward, impedance/admittance, observers, state feedback), Kinematics/Dynamics, System Identification, Hardware Debugging, ROS2, Multi-DoF Mechanism Modeling
Preferred skills
BLDC motor control, ros2_control internals, Tendon/cable-driven mechanisms, Tactile sensing integration, System identification toolchains (MATLAB/Simulink, MuJoCo, Isaac Sim)
Technologies
C++, ROS2, EtherCAT, CAN, RTOS, Real-time Linux, URDF/Xacro
Responsibilities
Tune and validate actuator/joint-space control loops for multi-DoF end-effectors; Develop grasp-level behaviors (force control, compliant closing, slip detection); Build and identify models of actuators and transmission mechanisms; Integrate and calibrate end-effector sensing (F/T, tactile, encoders, vacuum); Debug at fieldbus and OS layer; Collaborate with mechanical/electronics engineers on actuation and transmission design
Seniority
Senior, hands-on IC
