Actuation Controls Engineer for Real-World Humanoid Robotics

Apptronik; Austin (TX); On-site; USD 120,000 - 160,000; Full time

Job summary

Apptronik is seeking a Controls Engineer - Actuation to own actuator models in simulation and the low-level control on real hardware. You will fuse motor electromechanics with system identification and strong C++/Python engineering, partnering with Controls, Firmware, and Simulation teams to close the loop from bench to deployment.

You will focus on high-fidelity actuator models, torque and current control, and robust tooling for automation and validation, enabling scalable robot bring-up for

Qualifications

• BS in Robotics, ME, EE, CS or related field with 4+ years of relevant experience; MS with 2+ years; PhD preferred.
• Prior humanoid or legged-robot experience strongly preferred.

Responsibilities

• Develop and maintain high-fidelity actuator models in simulation affecting real-world performance.
• Design, tune, and deploy actuator-level control for torque and current on hardware.
• Run hardware test campaigns to characterize actuator behavior and extract parameters.
• Apply system identification to derive models from data to inform controller design.
• Validate sim-to-real fidelity for models and controllers using appropriate metrics.
• Build Python/C++ tooling for automation, model extraction, controller tuning, and simulator integration.
• Collaborate with controls, firmware, and simulation teams on fidelity and performance implications.
• Support hardware bring-up and deployment translating models to real robot configuration.

Skills

C++ programming

Motor electromechanics

System identification

Python

Git & tooling

Control theory

Robotics simulation

Education

BS in Robotics/ME/EE/CS +4y

MS +2y

PhD in related field

Tools

MuJoCo

Isaac Sim/Lab

Brax

Docker (GPU/cloud infra)

Dynamometers / test stands

Job description

Apptronik is seeking a Controls Engineer - Actuation to own actuator models in simulation and the low-level control on real hardware. You will fuse motor electromechanics with system identification and strong C++/Python engineering, partnering with Controls, Firmware, and Simulation teams to close the loop from bench to deployment.

You will focus on high-fidelity actuator models, torque and current control, and robust tooling for automation and validation, enabling scalable robot bring-up for