Firmware Engineer (Actuation)

Join our team as a Firmware Engineer specializing in actuation and motor control for humanoid robots. You will collaborate with our existing firmware team to design, implement, optimize, and test brushless motor control firmware. Your contributions will include system identification, controller tuning, and real-time performance optimization. You will also support hardware bring-up, contribute to testing strategies, and help ensure firmware quality and reliability as we scale our production.

• Collaborate with the actuation firmware team to design, implement, optimize, and test brushless motor control firmware.
• Contribute to system identification, controller tuning, and hard real-time performance optimization across a fleet of actuators.
• Support hardware bring-up, contribute to HIL and SIL test strategies for actuation, and help own firmware quality and reliability.
• Experience deploying firmware to devices in the field, including exposure to telemetry, diagnostics, and field reliability
• Experience with embedded communication protocols such as SPI, UART, RS485, and CAN
• Strong collaboration and communication skills, with a desire to grow technical leadership within a team setting
• Hands-on experience developing hard real-time embedded firmware in production environments
• Ability to read and interpret electrical schematics (Altium Designer preferred) and hardware datasheets
• Minimum of 3 years of relevant industry experience developing production-grade embedded software, with experience contributing to firmware systems from concept through deployment
• Proficiency in C/C++; working knowledge of Python, Docker, and Git
• Experience with EtherCAT for real-time motor control communications
• 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
• Experience developing motor control firmware for BLDC or other brushless motors, including field-oriented control (FOC), current control, and torque control
• Strong hardware debugging skills using tools such as oscilloscopes and logic analyzers
• Contributions to firmware tooling, build systems, or developer infrastructure
• Experience with encoder and current sensing front ends, and gate driver ICs (e.g., DRV8353)
• Experience with humanoid robotics, industrial robotics, or other high-performance servo applications
• Experience developing in C and C++ for TI C2000 microcontrollers
• Experience with model-based design tools (e.g., MATLAB/Simulink) for control design and code generation
• Strong fundamentals in classical and modern control theory, with hands-on experience in system identification and controller tuning for production motor drives
• Familiarity with safety-critical embedded system design standards, including MISRA C and ISO 26262
• Prolonged periods of sitting at a desk and working on a computer
• Vision to read printed materials and a computer screen
• Must be able to lift 15 pounds at times
• Hearing and speech to communicate