23 hours ago
Vancouver, CanadaSenior
Responsibilities
- Tune and validate actuator- and joint-space control loops, including PID, feedforward, impedance/admittance, observers, and state feedback, for multi-DoF systems in ROS2.
- Work across EtherCAT, CAN, and Linux networking to support deterministic and safe real-time operation.
- Implement safety and fault-handling mechanisms for dynamic robotic conditions.
- Build and identify actuator, transmission, and mechanism models for control design and simulation.
- Apply rigid-body kinematics and dynamics, numerical IK/FK, URDF/Xacro, and MJCF to robotic control problems.
- Write real-time-safe object-oriented C++ for control and diagnostics, including lock-free and thread-safe structures.
- Design and debug multi-layer control architectures and maintain CMake tooling and Python test harnesses.
- Build browser-based hardware debugging tools using HTML, JavaScript, and WebSocket.
- Integrate and calibrate force/torque sensors, tactile sensors, IMUs, and other sensors across the control stack.
- Perform hands-on hardware bring-up, debugging, calibration, and performance testing in collaboration with mechanical and electronics engineers.
Requirements
- M.S. or Ph.D. in Control Engineering, Robotics, Mechanical Engineering, or Electrical Engineering, with equivalent practical experience accepted.
- 5+ years of experience with robotic or mechatronic systems.
- Experience shipping real-time-safe, object-oriented C++ control software on physical hardware in production or a serious research program.
- Experience tuning and validating controllers on physical actuators, including sensor calibration and hardware bring-up.
- Experience debugging at the fieldbus and operating-system layer using EtherCAT or CAN on an RTOS or real-time Linux.
- Strong control theory foundation in linear and nonlinear control, stability, observers, state estimation, feedback/feedforward, filtering, and frequency-domain analysis.
- Experience applying control theory to multi-DoF mechanisms using Jacobians, numerical IK/FK, and URDF/Xacro.
- Preferred experience with BLDC motor control, including commutation, current control, and torque optimization.
- Preferred experience with ros2_control internals, parallel mechanisms, robotic hands, or other multi-DoF end-effectors.
- Preferred experience with system-identification toolchains, dynamic system modeling, and MATLAB/Simulink, MuJoCo, or Gazebo.
Benefits
- Extended health benefits begin on the first day and include fully paid medical and dental coverage, virtual care, employee and family assistance, and worldwide emergency medical support.
- The role offers 23 days of accrued annual leave, 15 days of paid sick leave, and paid company holidays.
- Stock options are offered as equity participation.
- Free daily catered lunch, snacks, and drinks are provided in the office.
- The role offers collaboration with engineers, researchers, and product experts in AI and robotics, plus freedom to influence the product and own key initiatives.
Tech Stack
Categories
EmbeddedRobotics
About Humanoid
Humanoid develops general-purpose humanoid robots for industrial environments to automate hazardous or monotonous tasks in manufacturing, logistics, and construction. Its HMND‑01 Alpha platform is running in real industrial pilots, pointing toward a hardware-and-software product paired with deployment services. Founded in 2024 and headquartered in London, the privately held company is scaling toward wider commercialization from these pilots.