Sr. Software Engineer - Wheeled Controls

• Algorithm Development: Design, implement, and tune whole-body controllers that coordinate wheeled base motion with upper-body manipulation. This includes state-estimation (EKF, UKF), base controllers (MPC, PID), and arm/torso trajectory tracking with dynamic coupling compensation.
• Hardware-to-Software Interfacing: Develop the low-level software interface between high-level planning stacks and both wheel drive and upper-body actuators (joints, grippers), ensuring deterministic performance, low-latency communication, and coordinated multi-DOF control.
• Productization & Safety: Drive the transition of wheeled platforms to market-ready status. This includes implementing safety-rated speed monitoring, emergency stop logic, and ensuring compliance with industry safety certifications ((e.g., ISO 13849, ISO 10218, ANSI/RIA R15.08)
• Planning Integration: Work closely with perception and autonomy teams to integrate mobile manipulation planners—coordinating base repositioning with grasp/task planning for seamless loco-manipulation behaviors.
• State Estimation & Localization: Refine sensor fusion techniques (IMU, Wheel Encoders, LiDAR) to provide highly accurate and resilient odometry in diverse, real-world environments.
• Testing & Validation: Lead field testing and rigorous validation of motion control performance across various floor types, inclines, and payload configurations.
• Code Excellence: Maintain high standards for the codebase by writing production-grade, real-time C++. Lead peer reviews and maintain comprehensive documentation for the controls architecture.

• Controls Expertise: Deep understanding of classical and modern control theory applied to whole-body loco-manipulation systems, including coupled mobile base and multi-DOF manipulator dynamics.
• Estimation & Fusion: Strong experience with Kalman Filtering and sensor fusion (IMU, encoders, LiDAR, F/T sensors) for whole-body state estimation.
• Expert C++: High proficiency in modern C++ (14/17/20) for real-time systems, with a focus on memory management and performance optimization.
• Middleware: Extensive experience with Custom middleware and its real-time capabilities.
• Shipment History: A proven track record of taking complex wheeled-base platforms to market or deploying robotic fleets in commercial/industrial settings.

• Navigation Guru: Deep familiarity with the stack, including custom plugin development (Controller, Planner, or Recovery behaviors).
• Safety Standards: Experience navigating safety certification processes and implementing safety-critical software architectures.
• System Identification: Expertise in modeling and identifying the dynamics of complex electromechanical drive systems.
• Simulation: Experience using MuJoCo or Isaac Sim to validate control stability before deploying to physical hardware.

• Education: MS or PhD in Robotics, Mechanical Engineering, Electrical Engineering, Computer Science, or a related field.
• Experience: 5+ years of relevant industry experience (or 3+ years with a PhD) specifically focused on mobile robotics and wheeled motion control.
• Proven Impact: Direct experience taking a wheeled-base platform through the full product lifecycle, from initial control design to factory exit and customer deployment.

• Prolonged periods of sitting at a desk and working on a computer
• Must be able to lift 50 pounds at times
• Vision to read printed materials and a computer screen
• Hearing and speech to communicate

This is a direct hire.

Please, no outside Agency solicitations.

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