Low-Level Controls Engineer

2 weeks ago

Vancouver, British Columbia, Canada Humanoid Full time

Humanoid is the first AI and robotics company in the UK, creating the world's most advanced, reliable, commercially scalable, and safe humanoid robots. Our first humanoid robot HMND 01 is a next-gen labour automation unit, providing highly efficient services across various use cases, starting with industrial applications.

At Humanoid we strive to create the world's leading, commercially scalable, safe, and advanced humanoid robots that seamlessly integrate into daily life and amplify human capacity.

Vision

In a world where artificial intelligence opens up new horizons, our faith in its potential unveils a new outlook where, together, humans and machines build a new future filled with knowledge, inspiration, and incredible discoveries. The development of a functional humanoid robot underpins an era of abundance and well-being where poverty will disappear, and people will be able to choose what they want to do. We believe that providing a universal basic income will eventually be a true evolution of our civilization.

Solution

Job Summary:

We are seeking a highly skilled and motivated Low / Mid-Level Controls Engineer to join our team in Vancouver. This role focuses on developing and tuning low-level control systems for actuators, including current, velocity, and position control, as well as advanced control techniques such as torque, impedance, and admittance control. The successful candidate will be responsible for actuator characterization, modeling, and compensation of friction and backlash, alongside testing and validating actuators in robotic systems. Additionally, you will work on multi body kinematics and dynamics, Inverse kinematics and dynamics modeling, and leverage physics engines (e.g., MuJoCo, Drake) for whole-body simulations. You will also be responsible for gravity and inertia compensation, and actuation sizing for robotic systems such as manipulation and bipedal locomotion.

Key Responsibilities:

  • Low-Level Control Development: Design and implement low-level control algorithms for actuators. Develop advanced control schemes such as torque control, impedance control, and admittance control.
  • Actuator Testing, Characterization and Modeling: Test and characterize actuators and create models for actuators under different conditions (e.g., load, speed). Analyze dynamic parameters such as friction, backdrivability, and hysteresis.
  • Actuation Sizing: Calculate and select the appropriate actuators (torque and speed) based on performance criteria for robotic applications, including manipulation and bipedal locomotion.
  • Kinematics and Dynamics Modeling: Create and apply kinematic and dynamic models to predict actuator behavior in complex robotic systems, ensuring accurate motion planning and control.
  • Inverse Kinematics and Inverse Dynamics: Develop inverse kinematics and inverse dynamics models for robotic systems. Address gravity and inertia compensation for complex, multi-link robotic systems.
  • Whole-Body Simulation: Utilize physics engines like MuJoCo or Drake to simulate the entire robotic body using URDF or etc., including multiple actuators and environmental interactions, to test and refine system performance.

Qualifications:

  • Master's or PhD degree in Mechanical Engineering, Robotics, Electrical Engineering, or a related field.
  • Minimum three years of relevant professional work experience in industry.
  • Extensive experience in actuator low-level control, including current, velocity, and position control, and advanced control techniques such as torque, impedance, and admittance control.
  • Expertise in actuator characterization and modeling, including compensation methods for friction, backlash, and other nonlinearities.
  • Proficiency in kinematics and dynamics modeling, including inverse kinematics and inverse dynamics for robotic systems.
  • Experience with physics engines (e.g., MuJoCo, Drake) for simulating robotic systems and validating actuator performance.
  • Proficient programming skills: MATLAB, Simulink, Python and/or C++
  • Hands-on experience with hardware-in-the-loop (HIL) testing, system integration, and validation of robotic actuation systems.
  • Strong problem-solving skills, out-of-box thinking, attention to detail, and the ability to work in a collaborative team environment.
  • Excellent communication skills, with the ability to document and present technical findings clearly.

Preferred Skills:

  • Experience with advanced control algorithms such as MPC (model predictive control).
  • Familiarity with machine learning applications in robotics and control.
  • Prior experience with bipedal locomotion systems or multi-arm manipulation in robotics.
  • Knowledge of modern robotic hardware (actuators, sensors, controllers, real time systems) and integration practices.

Benefits

  • High competitive salary.
  • 23 calendar days of vacation per year.
  • Flexible working hours.
  • Opportunity to work on the latest technologies in AI/ML, Robotics and others.
  • Startup model, offering a dynamic and innovative work environment.

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