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Firmware Engineer - Actuation

5 hours, 2 minutes ago
United States
Full-time
Mid Level
Embedded Systems Engineer
Software Development
C C++ Docker Git MATLAB Python
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Apptronik

Apptronik

Apptronik develops versatile humanoid robots to tackle tasks humans prefer not to do, aiming to reshape existence and enhance universal quality of life.

Aerospace & Defense
51-250
Founded 2015
$23M raised
View All Jobs 70

Description

  • Collaborate with controls, systems, electrical, mechanical, and software engineers to architect next-generation humanoid actuators.
  • Develop, deploy, and maintain motor control firmware for BLDC and other brushless motor topologies, including field-oriented control, current control, and torque control.
  • Contribute to system identification, plant modeling, and controller tuning for production actuators.
  • Help shape and execute Hardware-in-the-Loop and Software-in-the-Loop testing strategies for actuation performance, safety, and reliability.
  • Design and implement fault detection, fault injection, and recovery mechanisms for safety-critical motor control systems.
  • Improve firmware quality, reliability, telemetry, diagnostics, and root-cause analysis for actuators deployed in production humanoid robots.
  • Support actuation hardware bring-up from prototype through production.
  • Participate in code reviews, design reviews, and pair debugging.
  • Contribute to technical decisions on tooling, processes, and architectural patterns that scale with the team and product.

Requirements

  • Bachelor's degree in Electrical Engineering, Computer Engineering, Mechanical Engineering, or equivalent practical experience; Master's degree with a focus on controls or motor drives is especially valued.
  • Minimum of 3 years of relevant industry experience developing production-grade embedded software.
  • Proficiency in C/C++; working knowledge of Python, Docker, and Git.
  • Experience developing motor control firmware for BLDC or other brushless motors, including field-oriented control, current control, and torque control.
  • Hands-on experience developing hard real-time embedded firmware in production environments.
  • Experience deploying firmware to devices in the field, including telemetry, diagnostics, and field reliability.
  • Experience with EtherCAT for real-time motor control communications.
  • Strong hardware debugging skills using oscilloscopes and logic analyzers.
  • Ability to read and interpret electrical schematics and hardware datasheets; Altium Designer preferred.
  • Experience with embedded communication protocols such as SPI, UART, RS485, and CAN.
  • Experience with humanoid robotics, industrial robotics, or other high-performance servo applications.
  • Strong fundamentals in classical and modern control theory, with hands-on experience in system identification and controller tuning for production motor drives.
  • Experience developing in C and C++ for TI C2000 microcontrollers.
  • Familiarity with safety-critical embedded system design standards, including MISRA C and ISO 26262.
  • Experience with model-based design tools such as MATLAB/Simulink for control design and code generation.
  • Experience with encoder and current sensing front ends, and gate driver ICs such as DRV8353.
  • Contributions to firmware tooling, build systems, or developer infrastructure.
  • Strong collaboration and communication skills, with interest in growing technical leadership within a team.

Interested in this position?

Apply directly on the company website

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