Motion Control Engineer - Actuator Control Algorithms

Team: Algorithms

Location: Shanghai, China

Commitment: Full time

Workplace Type: onsite

We are looking for a Motion Control Engineer to own the control algorithms of every joint in our humanoid - jointly with the embedded team, who implement your designs on the Motor Controller PCB. This is pure actuator control: FOC, loop design, estimation, and compensation. Whole-body behavior lives in learned policies; your job is to make every joint execute its commands perfectly.

Who you are

• A motor control specialist who can take a noisy, nonlinear physical joint and make it track like a servo catalog page
• Equally fluent in control theory and in what the silicon can actually compute in a 60 kHz loop
• Data-driven: you tune with measurements, plots, and system identification - not by feel alone

Responsibilities

• Define and validate the motor control methodology across the robot: FOC and commutation strategies for BLDC motors in quasi-direct-drive configurations with planetary reduction
• Design current, velocity, and position/torque control loops; define bandwidths, filtering, anti-windup, and saturation handling
• Develop torque estimation, friction and cogging compensation, and observers for joint state
• Define joint-level safety limits and fault-handling behavior together with embedded
• Guide and verify the embedded implementation of your algorithms on the Motor Controller PCB; co-own everything running on that board
• Design and execute structured characterization tests on the joint dyno: torque, speed, resolution, responsiveness, thermal behavior
• Deliver validated actuator models and control limitations to the Sim2Real and RL teams - your measured envelopes become their training constraints
• Drive improvements in actuation repeatability and responsiveness through precise measurement and feedback

Requirements

• B.Sc. or M.Sc. in Electrical, Mechanical, or Control Engineering (or equivalent experience)
• 8+ years in motor control systems or motion system integration
• Deep hands-on experience with FOC and current/velocity/position loop design for BLDC motors
• Familiarity with planetary gear systems and QDD architectures, and their impact on control and sensing
• Proven ability to define and lead performance test plans from lab setup to interpretation
• Comfortable using lab tools (oscilloscopes, encoders, current sensors) to evaluate dynamic behavior under load and in closed loop
• Impedance control and proprioceptive actuation experience

Advantages

• Experience in robotic or humanoid actuation or servo drive companies
• Familiarity with harmonic gear systems and their control implications
• Python for scripting, system identification, and data analysis
• Understanding of how sensor noise, latency, and actuation limits affect learned whole-body policies
• Comfortable communicating technical topics in English with international teams