Principal Robotics Controls Engineer

Core Responsibilities

• Own the end-to-end locomotion stack, interfacing high-level VLA semantic goalpoints (5–20 Hz) with low-level

deterministic motor controllers (≥500 Hz).

• Develop and implement nonlinear Model Predictive Control (NMPC), Whole-Body Control (WBC), and Deep

Reinforcement Learning locomotion policies.

• Oversee hardware validation of gait transitions, obstacle clearing, push recovery, and stair traversal.

• Construct massively parallel Sim-to-Real (Sim2Real) training pipelines within NVIDIA Isaac Lab / Raisim to

produce robust gait policies across varying terrain geometries.

• Implement deterministic state estimation, contact detection, and slip-recovery algorithms operating at ≥500

Hz.

• Integrate high-speed motor communication protocols over CAN-FD and EtherCAT networks.

Required Qualifications

• Master's or Ph.D. in Mechanical Engineering, Robotics, or Mechatronics.

• Minimum 8 years of practical experience developing dynamic legged locomotion, multi-body kinematics, and

real-time control.

• Expertise in modern C++, Pinocchio, Drake, OCS2, Isaac Gym, and PREEMPT_RT Linux environments, C++20,

Quadratic Programming (QP), Kinematics & Dynamics.