Full-Stack Motor Control Engineer

<p>Figure is an AI Robotics company developing a general purpose humanoid. Our humanoid robot, Figure 02, is designed for commercial tasks and the home. We are based in San Jose, CA and require 5 days/week in-office collaboration. It’s time to build.</p> <p>We are seeking a <strong>Full-Stack Motor Control Engineer</strong> who combines strong control-theory expertise with deep embedded-firmware capability and a practical understanding of inverter hardware and sensors.</p> <p>You will contribute to the complete motor control stack — from modeling and algorithm design through embedded implementation and lab validation. This role requires a balance of analytical depth, hands-on debugging, and system-level awareness, working closely with cross-functional teams to deliver robust, high-performance actuation solutions for our humanoid.</p> <p><strong>Responsibilities: </strong></p> <ul> <li>Architect, implement, and tune <strong>current control loops</strong> for PMSM and BLDC actuators.</li> <li>Develop, optimize and debug <strong>real-time embedded firmware</strong> in C/C++ for MCUs/DSPs (e.g., STM32).</li> <li>Design and validate <strong>observers and estimators</strong> for primary controls and for enhanced diagnostics and fallback strategies.</li> <li>Design and validate state machines for control modes and fault handling.</li> <li>Model control systems and simulate dynamics using <strong>MATLAB/Simulink or Python</strong>.</li> <li>Bring up and debug <strong>custom inverter hardware</strong>, current sensors, and encoders.</li> <li>Develop <strong>automated test routines</strong> for dynamic response, torque linearity, and efficiency mapping for motor-dynamometers and actuator-dynamometers.</li> <li>Integrate <strong>high-speed telemetry</strong> <strong>and data-logging</strong> for system identification and control verification.</li> <li>Collaborate cross-functionally to integrate actuators into robotic subsystems and end-effectors.</li> <li>Support continuous improvement of <strong>control robustness and performance</strong>.</li> </ul> <p><strong>Requirements: </strong></p> <ul> <li><strong>6+ years</strong> of hands-on experience developing <strong>embedded systems for high-performance motion control</strong>.</li> <li>Proficiency in <strong>embedded C/C++</strong> for real-time control on MCUs/DSPs.</li> <li>Strong foundation in <strong>motor control theory</strong> (FOC, dq transformations, loop design, field-weakening).</li> <li>Solid understanding of <strong>ADC/PWM synchronization</strong>, ISR timing and task-scheduling.</li> <li>Experience with <strong>motor drivers, inverters, current sensing, and encoder interfaces</strong></li> <li>Familiarity with<strong> digital</strong> <strong>signal processing</strong> and frequency-domain analysis for control diagnostics.</li> <li>Proficiency in <strong>MATLAB/Simulink</strong> or <strong>Python</strong> for modeling and data analysis.</li> <li>Skilled with <strong>lab equipment</strong> for validation and software debugging.</li> <li>Excellent communication and planning skills.</li> <li>Resilient and effective in fast-paced, challenging environments.</li> <li><strong>MS or PhD</strong> in electrical engineering, controls, or a related field.</li> </ul> <p><span style="font-weight: 400;"><strong>Bonus Qualifications: </strong><br></span></p> <ul> <li>Exposure to <strong>functional-safety or high-reliability firmware</strong> design.</li> <li>Prior work on <strong>robotic actuation systems, industrial drives, or precision motion platforms</strong>.</li> <li>Working knowledge of communication buses and protocols like Ethernet, Ethercat, Serial, SPI and I2C.</li> <li>Expertise in torque, position and velocity closed loop control.</li> </ul> <p>The US base salary range for this full-time position is between $150,000 - $240,000 annually.</p> <p>The pay offered for this position may vary based on several individual factors, including job-related knowledge, skills, and experienc ... (truncated, view full listing at source)