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

Atlas Metrics; Riederich; Vor Ort; EUR 90.000 - 130.000; Vollzeit

Zusammenfassung

Neura Robotics in Metzingen seeks an experienced Dynamics, System Identification & Estimation Engineer to advance human-robot collaboration. You will own model fidelity, perform hardware-based system identification, and maintain simulation models such as MuJoCo and Isaac Sim while enabling robust real-time estimation for loco-manipulation tasks.

You will apply EKF/UKF on floating-base systems, bridge hardware with WBC/MPC controls, and contribute to a rapid, agile development process in a

Qualifikationen

• MSc or PhD in Robotics, Mechanical Engineering, Electrical Engineering, or related field.
• 4+ years of experience developing state estimation or system identification solutions for real-time robotic systems.
• 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.
• Experience supporting control systems (MPC, WBC) or learned policies (RL) through hardware deployment.
• C++ for production RT systems; Python for analysis, tooling, and calibration pipelines.

Aufgaben

• Dynamic model accuracy ownership: defining model fidelity metrics and validating against hardware data.
• System identification on 4NE-1 hardware: motor constants, joint friction, transmission dynamics and trajectory design.
• Simulation model authoring and maintenance: MuJoCo and Isaac Sim models matching real-world behaviour.
• Real-time state estimation: EKF/UKF for pelvis pose, velocity, and foot contact at RT loop rates.
• Sim-to-real pipeline: parameter estimation loops, hardware-data-driven calibration, validation against external references.
• Failure mode ownership: debugging accuracy-driven failures and ensuring stability during dynamics.
• Cross-team interface: sharing updated model parameters with WBC and State Estimation Engineers.

Kenntnisse

State estimation

System identification

C++ for RT systems

Python for analysis

MuJoCo

Pinocchio

UKF/EKF

Robot dynamics

MPC / WBC / RL experience

Ausbildung

MSc or PhD in Robotics

Tools

MuJoCo

Isaac Sim

Pinocchio

GTSAM

iSAM2

Brax

DiffTaichi

MJCF

Jobbeschreibung

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

Neura Robotics Metzingen

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

• What we can look forward to

  • 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

What you can look forward to

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.

Our values. The cornerstones of our success.

STRONGER TOGETHER

We are a team. We strive to achieve great things by promoting the success of our colleagues and partners.

PASSION DRIVES US

We strive for technological progress in order to give people back their valuable time for enjoyable activities.

MAKING A CHANGE

We strive to revolutionize the world of robotics by pushing the boundaries of technology every day.

TRUST AND HONESTY

We live a high level of appreciation through open communication and transparency.

WE SPEED THINGS UP

We do our best to always be two steps ahead. We achieve this through empowerment, freedom of action and personal responsibility.

WE ARE HUMAN

People are at the center of everything we do.

Our Location

Headquarters: Innovate in Riederich, Live in Metzingen and Stuttgart

Our headquarters in Metzingen and Riederich are the heart of our company. It's not just home to our offices, but also our production facilities, Academy, logistics, and Tech Labs—all working together to turn ideas into reality. Riederich itself is a small, peaceful town, just a kilometer away from Metzingen, a city with its own unique character. Metzingen is globally renowned as Outlet City, attracting visitors from all over the world. Here, you can enjoy exclusive designer stores in a relaxed and charming setting. The city also offers a variety of restaurants, cafés, and a down‑to‑earth Swabian coziness—perfect for unwinding after work.

Our Mission

David Reger

Gründer und CEO

"Our goal was to develop the world's first cognitive robot that can work with people, learn from them and provide them with targeted support. And that is exactly what we have achieved. But there is much more to come!"