Staff Robotics Control Engineer - Whole-Body Control (Wheeled Platform)
Tasks
- Advance impedance admittance and force control for contact
- Coordinate wheeled base torso and dual arm motion
- Define performance metrics and ensure deterministic reproducible evaluation
- Design graceful safety intervention behavior
- Design task formulation prioritization weighting and constraints
- Develop predictive MPC based whole body control
- Ensure stability under changing payload and dynamic motion
- Handle feasibility recovery when solver fails
- Implement constraint layer including self collision and joint limits
- Implement system identification and online payload estimation
- Integrate whole body control with safety compute velocity capping deceleration and envelopes
- Lead whole body control architecture and algorithms
- Mentor control engineers on optimization based control and hardware debugging
- Own dynamic models including inertial gravity and friction
- Review consequential control changes and coordinate with hardware teams
Perks/Benefits
Skills/Tech-stack
Admittance control | Body Dynamics | C plus plus | Contact Force Control | Force control | Hierarchical Control | Impedance control | Inverse dynamics | Inverse kinematics | Jacobian | Model Predictive | Model-Predictive Control | Motion Planning | NLP Solver | Nonlinear Programming | Nullspace Projection | Operational Space | Operational Space Control | Payload Estimation | Predictive control | Python | QP Solver | Quadratic Programming | Real Time | Real-time control | Rigid body | Rigid body dynamics | Robot Kinematics | Space Control | System Identification | Task space control | URDF
Education
N/A
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