Apptronik is a human-centered robotics company developing AI-powered robots to support humanity in every facet of life. Our flagship humanoid robot, Apollo, is built to collaborate thoughtfully with people, starting with critical industries such as manufacturing and logistics, with future applications in healthcare, the home, and beyond.
We operate at the cutting edge of Applied AI, applying our expertise across the full robotics stack to solve some of society's most important problems. You will join a team dedicated to bringing Apollo to market at scale, tackling the complex challenges like safety, commercialization, and mass production to change the world for the better.
JOB SUMMARY
Apptronik is building robots for the real world — to improve human quality of life and help solve the ever-increasing labor shortage. As a Controls Engineer – Actuation on our Controls team, you will own both the actuator models that make our simulation trustworthy and the actuator-level control that runs on real hardware — closing the loop from bench characterization and system identification, through simulator integration, to controller design, tuning, and deployment. You will pair deep motor electromechanics and system-identification skill with strong C++/Python engineering, working hand in hand with our Controls, Firmware, and Simulation teams so that both model fidelity and control performance are driven by how they are actually used on the robot.
ESSENTIAL DUTIES AND RESPONSIBILITIES or KEY ACCOUNTABILITIES
- Develop and maintain high-fidelity actuator models in simulation, capturing the physical behaviors (friction, compliance, thermal, torque and current limits) that meaningfully affect real-world performance.
- Design, tune, and deploy actuator-level control — closed-loop torque and current control and the low-level control that turns commands into reliable joint behavior on hardware.
- Design and run hardware test campaigns to characterize actuator behavior and extract the parameters that keep both the models and the controllers accurate.
- Apply system identification to extract trustworthy physical models from experimental data, and use those models to inform controller design and gain selection.
- Quantitatively validate sim-to-real fidelity — for both the models and the controllers — using appropriate comparison metrics, and understand the limitations of each.
- Build and maintain robust Python/C++ tooling for experiment automation, model extraction, controller tuning, and simulator integration.
- Partner with the Controls team throughout — aligning on the fidelity and control performance actually needed, how model and controller choices ripple into training and policy performance, and where the actuator layer is the root cause of a sim-to-real gap.
- Support hardware bring-up and deployment, translating validated models and controllers into real robot configuration.
SKILLS AND REQUIREMENTS
- Strong C++, including comfort extending a simulator or physics-engine codebase — not just consuming one through a Python interface.
- Deep grounding in motor electromechanics and classical control — closed-loop torque/current control, controller design and tuning, and frequency-domain analysis (e.g. Bode plots, stability margins).
- Hands-on actuator or servo control on real hardware: designing, tuning, and validating low-level controllers, informed by system identification.
- Hands-on system identification and modeling: structured experiment design and model fitting from real data that feeds both simulation and control.
- Proficiency in Python (test automation, data analysis, tooling) and a track record shipping maintainable code under Git in a fast-moving R&D environment.
- Comfortable working cross-functionally with controls engineers — focused on how your models and controllers get used, not just whether they fit the data.
- Preferred: experience with dynamometers, motor test stands, and lab instrumentation; motor thermal modeling and gearbox efficiency / backlash characterization; real-time actuator communication protocols and embedded / firmware control; a modern robotics simulator (MuJoCo, Isaac Sim/Lab, Brax) and sim-to-real validation workflows; and Docker with GPU/cloud experiment infrastructure.
EDUCATION and/or EXPERIENCE
- BS in Robotics, ME, EE, CS, or a related field + 4 years of relevant experience; MS in a related field + 2 years of relevant experience; or a PhD in a related field.
- Prior humanoid or legged-robot experience is strongly preferred.
PHYSICAL REQUIREMENTS:
- Prolonged periods of sitting at a desk and working on a computer
- Must be able to lift 15 pounds at times
- Vision to read printed materials and a computer screen
- Hearing and speech to communicate
*This is a direct hire. Please, no outside Agency solicitations.
Apptronik provides equal employment opportunities to all employees and applicants for employment and prohibits discrimination and harassment of any type without regard to race, color, religion, age, sex, national origin, disability status, genetics, protected veteran status, sexual orientation, gender identity or expression, or any other characteristic protected by federal, state or local laws.
Skills Required
- BS in Robotics, Mechanical Engineering, Electrical Engineering, Computer Science, or a related field plus 4 years of relevant experience
- MS in a related field plus 2 years of relevant experience
- PhD in a related field
- Strong C++ skills, including extending simulator or physics-engine codebases
- Deep knowledge of motor electromechanics and classical control
- Experience with closed-loop torque and current control, controller design and tuning, and frequency-domain analysis
- Hands-on actuator or servo control experience on real hardware
- Hands-on system identification and modeling using experimental data
- Proficiency in Python for test automation, data analysis, and tooling
- Experience shipping maintainable code under Git in a fast-moving R&D environment
- Ability to work cross-functionally with controls engineers
- Experience with dynamometers, motor test stands, and lab instrumentation
- Experience with motor thermal modeling and gearbox efficiency or backlash characterization
- Experience with real-time actuator communication protocols and embedded or firmware control
- Experience with a modern robotics simulator such as MuJoCo, Isaac Sim/Lab, or Brax
- Experience with sim-to-real validation workflows
- Experience with Docker and GPU/cloud experiment infrastructure
- Prior humanoid or legged-robot experience
Apptronik Compensation & Benefits Highlights
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Healthcare Strength — Healthcare coverage includes multiple UnitedHealthcare plan options with an employer-paid portion, plus mental health benefits and FSAs. The presence of standard medical, dental, and vision categories indicates a solid core offering.
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Leave & Time Off Breadth — Flexible PTO, paid holidays and sick days, and paid parental leave are explicitly highlighted. Manager-approved hybrid/remote days further support time away when needed.
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Equity Value & Accessibility — Company equity and performance bonuses are part of the total-rewards mix, with relocation assistance available for some roles. These components can add meaningful upside to base compensation for many positions.
Apptronik Insights
What We Do
Apptronik is building robots for the real world to improve human quality of life and to help solve the ever-increasing labor shortage problem. Our team has been building some of the most advanced robots on the planet for years, dating back to the DARPA Robotics Challenge. We apply our expertise across the full robotics stack to some of the most important and impactful problems our society faces, and expect our products and technology to change the world for the better. We value passion, creativity, and collaboration to help us overcome existing technological barriers in the industry to create truly innovative products.
Why Work With Us
At Apptronik, we don't see a future where man competes against machine. Instead, we envision a harmonious world where man and machine coexist. Our mission statement, "It is not Man vs. Machine, but Man + Machine," encapsulates our belief that the synergy between humans and robots will pave the way for a brighter, more advanced future.
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Apptronik Offices
Hybrid Workspace
Employees engage in a combination of remote and on-site work.
