Dynamics, System Identification & Estimation Engineer - PLA (human)

Atlas Metrics; Gemeindeverwaltungsverband Metzingen; Vor Ort; EUR 60.000 - 80.000; Vollzeit

Benefits dieser Stelle

30 vacation days

Exclusive employee discounts

Support for professional development

Zusammenfassung

Atlas Metrics in Metzingen is seeking a Dynamics, System Identification & Estimation Engineer to join their Software Department. This role involves developing innovative robotic solutions while collaborating on industry-shaping projects.

The ideal candidate will have an MSc or PhD in a related field and 4+ years of hands-on experience with real-time robotic systems. Expect a creative work culture with flexible hours and opportunities for professional growth.

Qualifikationen

• 4+ years of experience developing state estimation solutions for real-time robotic systems.
• Experience with system identification on physical robotic systems.
• Proficient in C++ for production real-time systems and Python for tooling.

Aufgaben

• Own dynamic model accuracy and assess the gap between simulation and real hardware.
• Implement real-time state estimation for pelvis pose and velocity.
• Collaborate with cross-functional teams to supply updated model parameters.

Kenntnisse

Dynamics

Estimation

Control

C++

Python

Ausbildung

MSc or PhD in Robotics, Mechanical Engineering, or related field

Tools

MuJoCo

Isaac Sim

Jobbeschreibung

Dynamics, System Identification & Estimation Engineer - PLA (human)

Neura Robotics • Metzingen

Full-time, Location: Metzingen – start today.

Shape the Future of Human‑Robot Collaboration

In the Software Department, you’re shaping robotic solutions that redefine human‑machine collaboration. You’ll work with cutting‑edge technology, setting industry‑changing standards. Not only will you help develop our solutions, but you’ll also set new trends and drive innovations forward. In an agile and interdisciplinary team, you’ll engage in exciting projects. With clear Scrum processes like daily stand‑ups, sprint planning, and reviews, you remain flexible and efficient. Collaborating closely with other departments allows you to create software solutions that are both technically advanced and practically effective. Here, you’ll find an environment where creativity and technological excellence go hand in hand. If you’re eager to turn ideas into reality and enjoy taking technology to the next level, the Software Development Team at NEURA offers the perfect challenge for you.

Your Mission & Challenges

• Dynamic model accuracy ownership: defining model fidelity metrics and owning the gap between simulation behaviour and real‑hardware behaviour across dynamic motion and contact‑rich interactions

• System identification on 4NE‑1 hardware: motor constants, joint friction, transmission dynamics — excitation trajectory design, regressor fitting, observability analysis, iterative refinement against hardware data

• Simulation model authoring and maintenance: MuJoCo and Isaac Sim models that match real‑world behaviour under dynamic loading and contact; contact model parameterisation, actuator model calibration

• Real‑time state estimation: floating‑base EKF/UKF implementation and tuning for pelvis pose, velocity, and foot contact state at RT loop rates; feeds downstream controllers and loco‑manipulation policy inputs

• Sim‑to‑real pipeline: parameter estimation loops, hardware‑data‑driven calibration, validation against motion capture or external reference systems — the continuous feedback loop between hardware campaigns and updated sim models

• Failure mode ownership: debugging model‑accuracy‑driven failures — control instability from inaccurate dynamics, estimation drift or bias causing divergence, incorrect contact/force estimation leading to instability in dynamic interactions

• Cross‑team interface: supplying updated Pinocchio model parameters to the WBC and State Estimation Engineers in Core Robot Software; aligning on excitation trajectory designs with the Locomotion and RL/Control Engineers

Qualifications

• MSc or PhD in Robotics, Mechanical Engineering, Electrical Engineering, or a related field with a strong foundation in dynamics, estimation, and control

• 4+ years of experience developing state estimation or system identification solutions for real‑time robotic systems — on real hardware, not simulation‑only

• System identification on physical robotic systems: excitation trajectory design, least‑squares or maximum‑likelihood regressor fitting, actuator and transmission parameter identification

• State estimation implementation: EKF or UKF for floating‑base pose, velocity, and contact state on a legged or mobile robot platform

• Rigid body dynamics depth: contact modelling, actuator behaviour, and how model inaccuracies propagate to control instability — not just theoretical familiarity

• Experience supporting control systems (MPC, WBC) or learned policies (RL) through hardware deployment — understanding how model quality gates policy transfer

• C++ for production RT systems; Python for analysis, tooling, and calibration pipelines

Nice to Have

• Humanoid or legged robot hands‑on experience — 4NE‑1 is a full‑size humanoid; bipedal dynamics and contact complexity are directly relevant

• Differentiable simulators for gradient‑based system identification (Brax, DiffTaichi, or comparable)

• Sim‑to‑real transfer methodology: domain randomisation, adaptive calibration, residual physics modelling

• Pinocchio for rigid‑body model computation and parameter sensitivity analysis

• MuJoCo model authoring: MJCF contact parameters, actuator models, tendon dynamics

• Factor graph‑based estimation (GTSAM, iSAM2) for tightly‑coupled IMU + kinematics fusion

• Publications or open‑source contributions in legged robot dynamics, system identification, or sim‑to‑real transfer

Benefits

Creative Freedom and Agility

Enjoy a dynamic, self‑reliant work culture with flat hierarchies, flexible hours, and 30 vacation days. Ideal for those seeking an inspiring professional setting, whether you’re starting out or an experienced exec.

Passion for Winning

A passionate and highly skilled team of international experts aiming to redefine robot assistants.

Attractive Compensation

Enjoy a competitive salary package along with exclusive employee discounts.

One Team

Whether it’s a summer party or company town hall meetings, we celebrate our successes together.

Professional Growth

Support for your personal and professional development.

Location

Metzingen, Riederich, Stuttgart.