About the company
Humanoid is building the world's most capable, commercially-scalable, and safe humanoid robots. Their platform HMND-01 Alpha is running in real industrial pilots.
Responsibilities
- Tune and validate actuator- and joint-space control loops (PID, feedforward, impedance/admittance, observers, state feedback) for multi-DoF systems in ROS2
- Work across EtherCAT/CAN and Linux networking (TCP/IP, DDS discovery, time sync) to ensure deterministic, safe real-time operation
- Implement safety and fault-handling mechanisms for dynamic conditions
- Build and identify models of actuators, transmissions, and mechanisms, including parallel mechanisms like differential wrists/ankles
- Apply rigid body kinematics/dynamics and numerical IK/FK methods; work from URDF/Xacro and MJCF
- Write real-time-safe, object-oriented C++ (lock-free structures, thread safety) for control and diagnostics
- Design and debug multi-layer control architectures
- Maintain CMake build/dependency tooling and Python test harnesses; build lightweight browser-based tools (HTML/JS/WebSocket) for hardware debugging
- Integrate and calibrate a range of sensors (F/T sensors, tactile sensors, IMUs, etc.)
- Hands-on hardware bring-up and debugging
- Close the loop with mechanical/electronics engineers across sites on actuation requirements
Requirements
- M.S. or Ph.D. in Control Engineering, Robotics, Mechanical Engineering, or Electrical Engineering with 5+ years in robotic or mechatronic systems
- 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
- Debugged at the fieldbus and OS layer: EtherCAT (PDO/SDO, timing constraints) 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
Preferred qualifications
- BLDC motor control (commutation, current control, torque optimization)
- ros2_control internals (hardware interfaces, controllers, controller_manager, plugins, lifecycle nodes)
- Parallel mechanisms specifically (differential wrist, parallel ankle), robotic hands, or other multi-DoF end-effectors
- System identification toolchains and simulation environments (MATLAB/Simulink, MuJoCo, Gazebo); MJCF
- Experience with dynamic system modeling and simulation at the actuator and transmission level
Conditions
- Comprehensive extended health benefits starting on your first day, including fully paid medical and dental, virtual care, employee and family assistance, and worldwide emergency medical support
- 23 days of annual leave (accrued), 15 days of paid sick leave, and paid company holidays
- Competitive equity: stock options
- Free daily catered lunch, snacks, and drinks in-office