Senior Motor Control Engineer

Halodi Robotics; San Carlos (CA); On-site; USD 120,000 - 180,000; Full time

Benefits offered by this job

Comprehensive medical, dental, and/or_

Generous paid time off, holidays, and

401(k) plan with company match

Flexible Spending Accounts (FSA/HSA)

Commuter benefits

Disability and life insurance

Employee Assistance Program (EAP)

Onsite snacks and catered lunches

Job summary

1X is seeking a skilled Motor Control Engineer to own the control of NEO’s motor systems, including development and tuning of field-oriented control for PMSM/BLDC motors. You will work closely with electrical, firmware, and mechanical teams to ensure safe, quiet, and precise motor performance in a real-world robot.

You will translate rotor dynamics and FE results into production-ready control algorithms, validate them on dynos and the full robot, and contribute to safety-critical fault handling

Qualifications

• Bachelor’s degree in Electrical Engineering, Controls, Mechatronics, Robotics or related field.
• 3+ years of industry experience designing and tuning motor control on real hardware.
• Shipped motor control with field-oriented control on PMSM/BLDC in production.
• Strong command of PMSM modelling in the dq frame and space-vector PWM.
• Hands-on motor parameter identification and encoder/Hall/resolver calibration.
• Dynamometer experience measuring torque constants, efficiency, torque ripple.
• Ability to read embedded C/C++ and trace control behavior in code.

Responsibilities

• Design, simulate, tune and validate motor control for REVO2 PMSM/BLDC family.
• Ensure safe torque-off behavior and fault handling within limits.
• Translate FE results into control-oriented models and feed findings back to design.
• Collaborate with electrical and firmware teams to bring control strategies into production.
• Validate performance on dynamometer and full robot.

Skills

Motor control

Field-oriented control

PMSM modelling

Embedded C/C++

Dynamometer testing

Control theory

MATLAB/Simulink

RTOS

Education

Bachelor’s degree in Electrical Engineering, Controls, Mechatronics, Robotics or related field

Tools

JMAG-RT

MATLAB/Simulink

Python

STM32

CAN FD

Job description

About 1X

We’re building humanoid robots that work in home - doing the chores, handling the tasks, and giving people their time back. Simple, but it’s not.

To do this right, we have to solve robotics, AI, manufacturing - at the same time, at scale, in a form factor that has to be safe enough to live with your family. If you’re inspired by this, you’ll thrive here. We’ve been at this since 2014 and we’re at the point where the hard problems are behind us and the hard work is in front of us.

NEO is our flagship - a home robot designed to move, learn, and operate in the real world alongside real people. We’re not demoing it - we’re shipping it. We’re excited to meet you, if this excites you.

If you’ve spent your career working on problems that matter and want to see them actually reach the world - this is that moment. We’re scaling, we’re hiring with intention, and we need people who want to build something that will genuinely change how humans spend their time - safely creating abundance for all.

About the Team

The Actuators team develops the electromechanical systems that enable NEO to move with strength, precision, and reliability. Our work spans mechanical design, electric motors, sensing, power transmission, controls integration, and hardware validation.

We work closely with electrical, controls, firmware, test, and manufacturing teams to rapidly develop actuator concepts, validate performance, and mature designs into reliable systems that can be produced at scale.

Your Charter

Own how NEO’s motors turn current into torque. You will design, simulate, tune and validate the motor control for the REVO2 family of in-house permanent magnet synchronous motors and for the new motors joining the family, in quasi-direct-drive and geared joints across the whole body.

Your control decides how NEO feels to the people around it: quiet, smooth, backdrivable and compliant, with accurate torque delivered inside tight current, voltage and thermal limits. You will take each controller from model and simulation, to the dynamometer, to the full robot, and you will define the limits, fault reactions and torque-off behavior that keep NEO safe next to a family.

You will work alongside the electromagnetic design team, turning their FEA results into control-oriented motor models (for example JMAG-RT plant models in MATLAB/Simulink) and feeding control findings back into the next motor revision. You own the control implementation on the product, from simulation to the dynamometer to the full robot, and you work with electrical (gate drivers, current sensing, inverters) and firmware engineers to bring each control strategy into production with its parameters and the evidence that it works.

Key Outcomes

• Design and tune field-oriented control with space-vector PWM and cascaded current, velocity and position loops for every REVO2 motor variant, with documented bandwidth, phase margin and step response targets per joint

• Deliver torque and impedance control modes that make NEO backdrivable and compliant on contact, with torque accuracy verified at the joint output

• Build a motor parameter identification process (Rs, Ld, Lq, flux linkage, inertia, friction) that runs on the dynamometer and scales to production units

• Own encoder, Hall and resolver calibration and commutation offset procedures so every motor commutates correctly from first power-up

• Reduce torque ripple and acoustic noise through cogging and ripple compensation, feedforward and friction compensation, measured on the dyno and on the robot

• Get the most torque and speed out of a low-voltage battery bus with field weakening, MTPA and voltage-limit handling, while respecting current and thermal limits on small, densely packed motors

• Define and validate fault detection and reactions for overcurrent, overvoltage, undervoltage, overtemperature, stall and sensor loss, including safe torque-off behavior

• Characterize control performance on dynamometers (torque constant, efficiency maps, torque ripple, thermal behavior, loop response) with repeatable test methods and clear reports

• Build and maintain control-oriented plant models (JMAG-RT, MATLAB/Simulink or Python) correlated with dyno and robot data, and feed the results into the next motor and drive revisions

Key Competencies

• Control fundamentals: frequency-domain design, discrete-time and delay effects, saturation and anti-windup, and a clear sense of where a model stops being true

• Motor physics intuition: you can explain a torque ripple harmonic, a current-loop oscillation or a thermal derate from the motor equations and the measured data

• Hands-on debugging at the hardware, firmware and control boundary with a scope, current probe, dyno logs and the firmware source, fixing root causes instead of retuning symptoms

• Safety-first judgement: you treat limits, fault reactions and torque-off as part of the control design, not an afterthought

• Clear communication with motor design, electrical, firmware and test engineers, and the habit of getting involved early in hardware decisions that affect control

Minimum Requirements

• Bachelor’s degree in Electrical Engineering, Controls, Mechatronics, Robotics or a related field

• 3+ years of industry experience designing and tuning motor control on real hardware, with level set by depth and scope of ownership

• Shipped motor control: field-oriented control with cascaded current, velocity and position loops for PMSM or BLDC motors that you designed or tuned, running on hardware that reached production, a fielded fleet or a formal validation program

• Strong command of PMSM modelling in the dq frame, space-vector PWM, inverter non-idealities (dead time, current sensing, ADC and PWM timing) and voltage limits

• Hands-on motor parameter identification and position sensor calibration (encoder, Hall or resolver, including commutation offset)

• Dynamometer experience measuring torque constant, efficiency, torque ripple and loop response, and turning the data into control changes

• Controller modelling and simulation in MATLAB/Simulink or Python

• Ability to read embedded C/C++ well enough to trace control behavior back to the code

Preferred Skills

• Torque and impedance control for robotic joints, quasi-direct-drive or geared actuators, backdrivability and compliant physical interaction

• Field weakening and MTPA on low-voltage drives, and thermal modelling and derating of small motors

• Control-oriented motor modelling with FEA-derived plant models such as JMAG-RT, and co-simulation with the electromagnetic design team

• Torque ripple, cogging and acoustic noise reduction in servo or robotic actuators

• Embedded firmware development in C/C++ on STM32, TI C2000 or similar, including ISR timing, DMA and ADC and PWM synchronization

• EtherCAT or CAN FD at 1 kHz and above, and a real-time OS such as FreeRTOS or Zephyr

• Functional safety experience with IEC 61508, ISO 13849 or IEC 61800-5-2 (including STO), and familiarity with robot safety standards such as ISO 13482 and ISO 10218

• Sensorless control and observer design

• MS or PhD with research in motor drives or control

What does a successful 1X Team Member look like?

Team members at 1X who thrive here are builders. They move fast, own their work completely, and treat time like it’s the one thing you can’t get back - because it is. They say what they mean, finish what they start, and hold themselves to a standard before anyone has to ask. We push each other to be better, and we do it with honesty and respect.

Successful Motor Control Engineers at 1X combine deep control theory with a strong bias toward the bench. They are as comfortable deriving a current-loop gain as they are reading a dyno log or a firmware trace at the end of the day. They measure before they tune, they leave every controller better documented than they found it, and they understand that a robot living with a family has to be quiet, gentle and safe every time it moves.

Benefits

• Comprehensive medical, dental, and vision coverage

• Generous paid time off, company holidays, and parental leave

• 401(k) plan with company match (100% on the first 3% of contributions, 50% on the next 2%)

• Flexible Spending Accounts (FSA) and Health Savings Accounts (HSA) options

• Commuter benefits (transit and parking)

• Short-term and long-term disability, and life insurance

• Employee Assistance Program (EAP) for mental health, financial, and personal support

• Onsite snacks and catered lunches

Equal Opportunity Employer

1X is an Equal Opportunity Employer. All qualified applicants will receive consideration for employment without regard to race, color, religion, sex, gender, gender identity or expression, sexual orientation, national origin, ancestry, citizenship, age, marital status, medical condition, genetic information, disability, military or veteran status, justice system impact, or any other characteristic protected under applicable federal, state, or local law.