Sr. Software Engineer - Wheeled Controls

2 hours, 10 minutes ago
Full-time
Senior
Software Development
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

Description

  • Design, implement, and tune whole-body controllers that coordinate wheeled base motion with upper-body manipulation.
  • Develop low-level software interfaces between planning systems, wheel drives, and upper-body actuators for deterministic, low-latency control.
  • Implement safety-rated speed monitoring, emergency stop logic, and other software needed for productization and certification.
  • Integrate mobile manipulation planners with perception and autonomy teams to coordinate base movement and grasp/task planning.
  • Refine sensor fusion and state-estimation methods using IMU, wheel encoder, LiDAR, and related sensors.
  • Lead field testing and validation of motion control performance across different floor types, inclines, and payloads.
  • Write production-grade real-time C++ and maintain documentation for the controls architecture.
  • Lead peer reviews and help maintain code quality across the team.
  • Take robotic mobility systems through the full lifecycle from algorithm design to commercial deployment.

Requirements

  • MS or PhD in Robotics, Mechanical Engineering, Electrical Engineering, Computer Science, or a related field.
  • 5+ years of relevant industry experience focused on mobile robotics and wheeled motion control, or 3+ years with a PhD.
  • Deep understanding of classical and modern control theory for whole-body loco-manipulation systems.
  • Strong experience with Kalman filtering and sensor fusion using IMU, encoders, LiDAR, and force/torque sensors.
  • High proficiency in modern C++14/17/20 for real-time systems, with attention to memory management and performance optimization.
  • Extensive experience with custom middleware and real-time capabilities.
  • Proven track record of taking complex wheeled-base platforms to market or deploying robotic fleets in commercial or industrial settings.
  • Experience with Robot Navigation Stack plugin development for controller, planner, or recovery behaviors is preferred.
  • Experience navigating safety certification processes and building safety-critical software architectures is preferred.
  • Experience modeling and identifying the dynamics of electromechanical drive systems is preferred.
  • Experience using MuJoCo or Isaac Sim to validate control stability before deployment is preferred.
  • Direct experience taking a wheeled-base platform through the full product lifecycle, from control design to customer deployment.
  • Must be able to lift 50 pounds at times and perform work requiring computer use, vision, hearing, and speech.

Interested in this position?

Apply directly on the company website

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