Controls Engineer

About the role

Our robots operate in real production environments where control reliability isn't optional. As a Senior Controls Engineer, you'll work directly on the low-level control and motion systems that make our bimanual wheeled robots safe, precise, and production-ready.

Responsibilities

• Design and implement real-time supervisory control systems for smooth handoff between autonomous and teleoperated modes, including trajectory blending and forward-consistent motion during transitions.
• Improve inverse kinematics solvers for multi-arm manipulation — resolving singularities, boundary failures, and ensuring robust solutions across the full reachable workspace.
• Develop sensor fusion pipelines (IMU, odometry, vision) for precise mobile base localization and orientation control under tight angular tolerances.
• Integrate new actuators for bimanual arm systems — including motor driver communication, torque/position/velocity control mode configuration, gain tuning, and safety limit implementation.

Requirements

• Strong fundamentals in classical control theory (PID, impedance/admittance control, state estimation) with hands-on experience implementing controllers on physical hardware.
• Proficiency in Python and C/C++ for real-time embedded or robotic applications.
• Hands-on experience with inverse kinematics solvers and simulation environments (PyBullet, MuJoCo, Drake, or similar), including practical familiarity with IK libraries or custom Jacobian-based implementations.
• Experience with rigid-body kinematics, coordinate frame transformations (homogeneous transforms, SE(3), quaternion representations).
• Experience with sensor fusion techniques (Kalman filtering, complementary filters) using IMU, encoders, or similar proprioceptive sensors.

Preferred Qualifications

• Prior experience with ROS/ROS2, CAN bus communication, or motor control interfaces.
• Familiarity with trajectory smoothing and interpolation methods (spline-based planning, Ruckig, or similar time-optimal trajectory libraries).
• Experience with wheeled or mobile robot platforms, including human in the loop data collection framework.

Benefits

• Medical, dental & vision plans ($0 payroll deduction)
• Daily meals stipend

Pay

The expected compensation for this position is $100,000 - $200,000 annual salary + cash and stock awards + benefits. The pay offered for this position may vary based on several individual factors, including job-related knowledge, skills, and experience. The total compensation package may also include additional components/benefits depending on the specific role.

Schedule

This is a full-time, five-day-a-week onsite role in our San Francisco, CA, office. Please confirm if you can meet this onsite requirement.

What is the hardest problem you've worked on?

What is the hardest problem you've worked on? How did you solve it?

US Work Authorization

Are you a US Citizen, Green Card Holder or Valid Visa Holder (H1-B, O-1, TN, E-3, OPT, etc)?