Senior Robotics Engineer, Controls

1X; Palo Alto (CA); On-site; USD 150,000 - 210,000; Full time

Job summary

A technology robotics company in Palo Alto is seeking a Senior Robotics Controls Engineer. You will develop the software stack for humanoid robots, focusing on controls algorithms for motion and manipulation. Ideal candidates have strong experience in C++, robotics software, and a solid foundation in control theory. The role demands collaboration with hardware and AI teams, ensuring high-quality and efficient robotics solutions. Relocation provided.

Qualifications

• 3+ years practical experience deploying and debugging controls software.
• Solid understanding of rigid body dynamics and linear algebra.
• Familiarity with optimization-based control and state estimators.
• Proficiency with large C++ code bases in a Linux environment.

Responsibilities

• Develop humanoid controls algorithms for manipulation and locomotion.
• Design efficient state estimation algorithms.
• Integrate hardware and evaluate sensors.
• Hardware integration and sensor evaluation.
• Tooling for hardware bring-up and debugging.
• Software for robot health monitoring, visualization and logging.
• Building and maintaining APIs used by other parts of the software stack to command our robots.

Skills

Controls software development

Debugging

Understanding of rigid body dynamics

Numerical optimization

C++ programming

Linux development

Tools

ROS2

Unity/C#

Embedded C

Git

Yocto

Job description

Overview

Senior Robotics Controls Engineer role at 1X. Target start date: Immediately. Relocation provided.

Since its founding in 2015, 1X has been at the forefront of developing advanced humanoid robots designed for household use. Our mission is to create an abundant supply of labor via safe, intelligent humanoids. We strive for excellence in all we do, solving some of the hardest problems in robotics with the world’s most talented individuals. Every part of our robots is designed and produced in-house—from motor coils to AI—reflecting our vertically integrated approach. At 1X, you’ll own real projects, be recognized for your achievements, and rewarded based on merit. We believe the best work is done when collaborating and therefore require in-person presence in our office locations.

As we scale from research and development to full-scale manufacturing, we are looking for a Senior Robotics Controls Engineer. The Senior Robotics Controls Engineer role involves developing the real-time software stack that permits our state-of-the-art hardware to efficiently, elegantly and deterministically manipulate and locomote through its environment. This is a very hands-on role on a team which is responsible for everything from low-level motor control to whole-body dynamic control and estimation for loco-manipulation. Our teams goal essentially is to abstract away the complexity of a high DoF series of sensors, actuators, transmissions and links such that our humanoid can be commanded via simple, high-level API’s consumed by our teleoperation and AI engines.

Why this job is exciting

• The controls team is the first user of the hardware so you will play a key role in hardware design and sensor evaluation.
• There are 30+ humanoids operating 24/7 in-house which you can deploy and test your controls software on.
• In time, your software will run on thousands of humanoids performing tasks in diverse environments, globally.
• You'll be on a team with a large set of responsibilities, requiring interaction with hardware, firmware, AI, platforms and production teams, all working towards building the world’s safest and most capable humanoid robot.
• You’ll be working with a 50+ DoF biped, with hands, all driven by motors we design and manufacture in-house.

Controls Team Responsibilities

• Humanoid controls algorithm development for balancing, locomotion and manipulation.
• Designing fast and efficient state estimation algorithms.
• SysID and calibration of actuators, transmissions and full body kinematics.
• Hardware integration and sensor evaluation.
• Tooling for hardware bring-up and debugging.
• Software for robot health monitoring, visualization and logging.
• Building and maintaining API's used by other parts of the software stack to command our robots.

Must-Haves

• 3+ years practical experience deploying and debugging controls + estimation adjacent software on high DoF robots
• Solid understanding of rigid body dynamics, linear algebra and numerical optimization
• Familiarity with optimization-based whole body control, EKF-based state estimators or model predictive control for legged systems
• Proficiency working with large C++ code bases in a Linux development environment
• Familiarity with modern software development practices, source control, and testing methodologies

Qualities we\'re looking for

• Excellent intuition for how controls software impacts the behavior of the robot
• You enjoy being hands-on with the hardware as much as doing software R&D work.
• Extreme care for how your software impacts the rest of product, eg. tele-operation, production, deployment and servicing in the field
• Perseverance and attention to detail

Nice-To-Haves

• Experience with Java, Unity/C#, Python, real-time Linux, ROS2 and DDS
• Experience writing embedded C for interfacing with sensor or actuators
• Experience with the Yocto OS build system
• You have built your own robot and enjoy tinkering with hardware in your spare time.

We seek the world\'s most talented individuals with a passion for inventing and building a more prosperous future. At 1X you\'ll get to own real projects and be rewarded for your achievements and output. We hire, recognize and reward based on merit.

We believe the best work is done when collaborating and therefore require in-person presence in our office locations.

We\'re excited to have you on board!