Senior Controls Engineer - TeleOp

Figure is an AI Robotics company developing the general purpose humanoid Figure and a teleoperation platform. We target use cases in the industry and home.

We are based in Sunnyvale, CA and require 5 days/week in-office collaboration. It’s time to build.

We are looking for a Senior Controls Engineer. You will own the TeleOp control system, consisting of joint control, state estimation, and work on the way it interacts with the robot. You will work both in simulation and on hardware with the goal of providing real-time information for control of the robot and feedback to the user.

Responsibilities:

• Design and develop C++ code to support a force feedback mobile system.
• Estimate the pose and intention of the teleoperator, and communicate this to the robot. Understand Whole Body Control of the robot. 
• Provide force feedback to the teleoperator in a safe and intuitive manner.
• Design scalable solutions that integrate with Autonomy, Controls, and Testing systems at Figure.

Requirements:

• 4+ years of experience implementing optimization-based multi-DOF control algorithms (inverse dynamics, trajectory-optimization, whole-body control)
• Experience building state of the art state estimation solutions for real-time robotic systems such as (E)KFs, Particle Filters, Factor Graphs, Bayesian Estimation, etc.
• Experience working with various sensors, including encoders, torque sensors, IMUs, etc and sensor fusion. 
• Understanding of spatial kinematics, dynamics and related mathematical concepts
• A proven track record iterating on complex multi-dof systems, with emphasis on torque control and low impedance. 
• Fluency in modern C++ and Python

Bonus Qualifications:

• Prior experience working with haptics systems
• Experience with Machine Learning (ML) as it relates to state-estimation
• Working with visual odometry

The US base salary range for this full-time position is between $200,000 - $250,000 annually.

The pay offered for this position may vary based on several individual factors, including job-related knowledge, skills, and experience. The total compensation package may also include additional components/benefits depending on the specific role. This information will be shared if an employment offer is extended.