About the company
Humanoid builds the world's most capable, commercially-scalable, and safe humanoid robots. The HMND-01 platform is being deployed in real industrial environments.
Responsibilities
- Lead the evolution of the Wheeled Alpha whole-body controller: task formulation, prioritisation, weighting, constraint handling and solver selection
- Coordinate wheeled base, torso and dual-arm motion within a single whole-body formulation
- Own the constraint layer — self-collision avoidance, joint and velocity limit guarding, singularity handling, feasibility handling and recovery
- Drive evolution toward predictive formulations, evaluating and developing MPC-based whole-body control
- Own the dynamic models: inertial, gravity and friction modelling, system identification, online payload estimation
- Advance compliance and force behaviour — impedance, admittance and force control
- Make whole-body control a first-class citizen of the safety architecture
- Define performance metrics and insist on deterministic, reproducible evaluation
- Mentor control engineers on optimisation-based control, numerical robustness and hardware debugging
- Work with hardware teams so control constraints and mechanical design decisions stay coherent
Requirements
- Deep expertise in optimisation-based whole-body control: hierarchical and weighted QP formulations, task prioritisation, constraint handling
- Strong command of the classical WBC toolkit — operational space and task-space control, inverse dynamics and IK, redundancy resolution, nullspace projection, impedance and admittance control, contact and force control
- Working knowledge of MPC formulations for whole-body or mobile-manipulation control
- Deployed whole-body controllers on real high-DoF hardware
- Practical fluency with QP/NLP solvers and their failure modes
- Strong dynamic modelling foundations: rigid body kinematics/dynamics, inertial and friction system identification, payload/external-load estimation
- Expert modern C++ for real-time control with Python for analysis and prototyping
- Track record of taking control algorithms to production reliability, plus technical leadership and mentoring
Conditions
- Competitive equity: stock options with meaningful upside
- 30+ paid days off, including 23 days of annual leave, all UK bank holidays, and additional company closure days
- Private healthcare, including virtual and in-person care
- Pension scheme with 8% total contribution
- Free daily breakfast, catered lunch, and snacks in-office