Controls Systems Engineer

About the role

We're looking for a Controls Systems Engineer to design, implement, and tune the real-time control loops that make our actuators and joints move precisely, safely, and reliably.

Responsibilities

• Design, implement, and tune low-level control loops (current, torque, velocity, and position control) for electromechanical actuators.
• Write and optimize embedded firmware that runs these control loops in real time on microcontrollers or DSPs.
• Model actuator and drivetrain dynamics (motors, gearboxes, transmissions, sensors) to inform controller design and tuning.
• Implement and tune classical control techniques (PID, cascaded loops, feedforward, state observers) and evaluate more advanced approaches where warranted.
• Work with electrical engineers to define current sensing, gate drive, encoder/sensor feedback, and other hardware needed to close the loop well.
• Bring up new actuator hardware on the bench: instrument it, characterize its behavior, and get first control loops running.
• Debug control performance issues using scopes, logic analyzers, and data logging — distinguishing hardware, firmware, and tuning problems.
• Collaborate with motion planning, autonomy, and software teams to ensure low-level control behavior supports the robot's higher-level tasks.
• Document control architectures, tuning procedures, and known limitations so other engineers can build on your work.

Requirements

• Bachelor's, Master's, or PhD degree in Mechanical Engineering, Electrical Engineering, or a related field.
• 5+ years of experience designing and implementing low-level motor or actuator control systems (less with an advanced degree focused on controls).
• Strong fundamentals in classical controls: PID, cascaded control loops, feedforward, and frequency-domain or state-space analysis.
• Experience with time synchronized torque control of motors (BLDC/PMSM, FOC, current/torque control) or other electromechanical actuator force control.
• Experience working with encoders, strain gauges, or other analog or digital sensors.
• Hands-on embedded firmware experience in C or C++ on microcontrollers or DSPs, including real-time constraints and interrupt-driven code.
• Comfortable designing and using filters in time critical, low-latency domains.
• Comfortable modeling and analyzing dynamic systems (MATLAB/Simulink, Python, or similar) to design and validate controllers before and after hardware bring-up.
• Lab fluency: comfortable with a scope, current probes, and data logging to characterize hardware and debug control performance.
• Strong analytical and problem-solving skills, with the tenacity to track down issues that span hardware, firmware, and tuning.
• A friendly, collaborative mindset, strong communication skills, and excitement to work hands-on in a dynamic, supportive team environment; design without ego.

Qualifications

• Experience controlling actuators for robotics, exoskeletons, or other articulated mechanical systems.
• Familiarity with real-time operating systems (RTOS) and deterministic scheduling.
• Experience with EtherCAT, CAN-FD, or other industrial/robotics communication protocols used for control.
• Exposure to state estimation techniques (Kalman filters, observers) for sensor fusion at the actuator level.
• Experience with strain-wave, cycloidal, or planetary transmissions and their impact on control design.
• Familiarity with functional safety standards (IEC 61508, ISO 13849, ISO 26262) as applied to motor control systems.
• Experience working closely with electrical engineers on driver hardware (gate drive, current sensing) and mechanical engineers on transmission design.
• Comfortable reviewing schematics and PCB layouts well enough to debug control hardware issues.

Skills

• Strong fundamentals in classical controls: PID, cascaded control loops, feedforward, and frequency-domain or state-space analysis.
• Experience with time synchronized torque control of motors (BLDC/PMSM, FOC, current/torque control) or other electromechanical actuator force control.
• Experience working with encoders, strain gauges, or other analog or digital sensors.
• Hands-on embedded firmware experience in C or C++ on microcontrollers or DSPs, including real-time constraints and interrupt-driven code.
• Comfortable designing and using filters in time critical, low-latency domains.
• Comfortable modeling and analyzing dynamic systems (MATLAB/Simulink, Python, or similar) to design and validate controllers before and after hardware bring-up.
• Lab fluency: comfortable with a scope, current probes, and data logging to characterize hardware and debug control performance.
• Strong analytical and problem-solving skills, with the tenacity to track down issues that span hardware, firmware, and tuning.
• Experience controlling actuators for robotics, exoskeletons, or other articulated mechanical systems.
• Familiarity with real-time operating systems (RTOS) and deterministic scheduling.
• Experience with EtherCAT, CAN-FD, or other industrial/robotics communication protocols used for control.
• Exposure to state estimation techniques (Kalman filters, observers) for sensor fusion at the actuator level.
• Experience with strain-wave, cycloidal, or planetary transmissions and their impact on control design.
• Familiarity with functional safety standards (IEC 61508, ISO 13849, ISO 26262) as applied to motor control systems.
• Experience working closely with electrical engineers on driver hardware (gate drive, current sensing) and mechanical engineers on transmission design.
• Comfortable reviewing schematics and PCB layouts well enough to debug control hardware issues.

Benefits

• Competitive compensation
• Performance-based bonus
• 99% employer covered medical benefits
• Early-stage equity
• Competitive PTO
• Company-wide paid winter break between December 24th and January 2nd

Pay

• Commensurate with experience

Schedule

• Full-time