Motion Planning and Controls Engineer

Responsibilities

• Cover the entire software stack that governs robot motion, from optimization-based motion planning and control for an overactuated autonomous system, down to individual motor torque control.
• Utilize deep expertise in complex, high degree-of-freedom electromechanical systems.
• Employ a multi-disciplinary mindset, bridging mechanical, electrical, software, and systems engineering domains.
• Interface with perception, intelligence, simulation, and platform software systems to design functional architectures for robot performance.
• Achieve exceptional motion quality via continual test, measurement, analysis, and improvement.

Must-have Qualifications

• MS or PhD in engineering, mathematics, computer science or related discipline.
• Experience in optimization-based motion planning and control algorithms such as Model Predictive Control.
• Experience in control, estimation, modeling, and analysis of complex multi-degree-of-freedom electromechanical systems, including forward/inverse kinematics, forward/inverse dynamics, and task/joint space control.
• Practical experience with motor servo control (position/velocity/torque control) architectures and tuning.
• Proficiency in Python and C++ programming, using up-to-date software development practices and tooling.
• Self-starter attitude with strong ability to identify problems, prioritize, plan and execute solutions.
• Enthusiasm for working in a fast-paced startup environment.

Nice-to-have

• Familiarity with ground vehicle localization, mapping, and state estimation techniques (e.g. SLAM, Kalman filtering).
• Familiarity with robotic simulation software frameworks/environments.
• Familiarity with modern approaches to robotic manipulation, including reinforcement learning (RL) and imitation learning (IL).
• Knowledge of brushless motor current control (e.g. field-oriented control).
• Familiarity with functional safety (FuSa) concepts.