Sr. Software Engineer - Wheeled Controls

About the role

Apptronik is a human‑centered robotics company developing AI‑powered robots to support humanity in every facet of life. Our flagship humanoid robot, Apollo, is built to collaborate thoughtfully with people, starting with critical industries such as manufacturing and logistics, with future applications in healthcare, the home, and beyond. The Senior Software Engineer – Wheeled Controls is responsible for developing and deploying the high‑performance motion control systems that power our robotic mobility, focusing on the software layer that coordinates wheeled mobility with upper‑body manipulation.

Responsibilities

• Design, implement, and tune whole‑body controllers that coordinate wheeled base motion with upper‑body manipulation, including state‑estimation (EKF, UKF), base controllers (MPC, PID), and arm/torso trajectory tracking with dynamic coupling compensation.
• Develop low‑level software interfaces between high‑level planning stacks and wheel drive and upper‑body actuators (joints, grippers), ensuring deterministic performance, low‑latency communication, and coordinated multi‑DOF control.
• Drive productization and safety efforts, implementing safety‑rated speed monitoring, emergency‑stop logic, and ensuring compliance with industry safety certifications (e.g., ISO 13849, ISO 10218, ANSI/RIA R15.08).
• Collaborate with perception and autonomy teams to integrate mobile manipulation planners, coordinating base repositioning with grasp/task planning for seamless loco‑manipulation behaviors.
• Refine sensor‑fusion techniques (IMU, wheel encoders, LiDAR) to provide highly accurate and resilient odometry in diverse real‑world environments.
• Lead field testing and rigorous validation of motion‑control performance across various floor types, inclines, and payload configurations.
• Maintain production‑grade, real‑time C++ code, lead peer reviews, and keep comprehensive documentation for the controls architecture.

Requirements

• Deep understanding of classical and modern control theory applied to whole‑body loco‑manipulation systems, including coupled mobile base and multi‑DOF manipulator dynamics.
• Strong experience with Kalman filtering and sensor fusion (IMU, encoders, LiDAR, force/torque sensors) for whole‑body state estimation.
• High proficiency in modern C++ (C++14/17/20) for real‑time systems, with focus on memory management and performance optimization.
• Extensive experience with custom middleware and its real‑time capabilities.
• Proven track record of taking complex wheeled‑base platforms to market or deploying robotic fleets in commercial/industrial settings.
• Nice to have: deep familiarity with navigation stacks, including custom plugin development (controller, planner, or recovery behaviors).
• Nice to have: experience navigating safety certification processes and implementing safety‑critical software architectures.
• Nice to have: expertise in system identification of complex electromechanical drive systems.
• Nice to have: experience using MuJoCo or Isaac Sim to validate control stability before hardware deployment.

Qualifications

• MS or PhD in Robotics, Mechanical Engineering, Electrical Engineering, Computer Science, or a related field.
• 5+ years of relevant industry experience (or 3+ years with a PhD) focused on mobile robotics and wheeled motion control.
• Direct experience taking a wheeled‑base platform through the full product lifecycle, from initial control design to factory exit and customer deployment.

Physical Requirements

• Prolonged periods of sitting at a desk and working on a computer.
• Ability to lift up to 50 pounds occasionally.
• Vision sufficient to read printed materials and a computer screen.
• Hearing and speech to communicate effectively.