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
- Tune and validate actuator- and joint-space control loops (PID, feedforward, impedance/admittance, observers, state feedback) for multi-DoF end-effectors in ROS2
- Develop grasp-level behaviours: grasp force control, compliant closing, slip detection and correction, adaptive grasping on underactuated grippers
- Implement safety and fault-handling mechanisms — thermal and over-current protection, stall and jam detection, grip-loss detection
- Build and identify models of actuators, transmissions and mechanisms, including compliance, friction, backlash, hysteresis, cable stretch and pretension effects
- Own the joint-to-actuator abstraction and correct exposure of joint versus actuator state
- Contribute to transmission mechanism design with mechanical engineers
- Integrate and calibrate end-effector sensing (F/T, tactile, encoders, temperature/current, vacuum feedback)
- Hands-on bring-up and debugging of new end-effectors
- Collaborate with mechanical/electronics engineers and data collection, applications and deployment teams
Requirements
- Shipped real-time-safe, object-oriented C++ control software running on real hardware
- Tuned and validated controllers on physical actuators, including sensor calibration and bring-up
- Modelled, identified and controlled through real mechanical transmissions
- Worked on end-effectors or comparable multi-DoF mechanisms, including grasp control and supporting sensing
- Debugged at the fieldbus and OS layer: EtherCAT or CAN, on an RTOS or real-time Linux
- Strong control theory foundation (linear/nonlinear control, stability, observers, state estimation, feedback/feedforward, filtering, frequency-domain analysis)
- Applied to multi-DoF mechanisms via Jacobians, numerical IK/FK, and URDF/Xacro
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