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.
We are seeking a Full-Stack Motor Control Engineer who combines strong control-theory expertise with deep embedded-firmware capability and a practical understanding of inverter hardware and sensors.
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.
Responsibilities:
- Architect, implement, and tune current control loops for PMSM and BLDC actuators.
- Develop, optimize and debug real-time embedded firmware in C/C++ for MCUs/DSPs (e.g., STM32).
- Design and validate observers and estimators for primary controls and for enhanced diagnostics and fallback strategies.
- Design and validate state machines for control modes and fault handling.
- Model control systems and simulate dynamics using MATLAB/Simulink or Python.
- Bring up and debug custom inverter hardware, current sensors, and encoders.
- Develop automated test routines for dynamic response, torque linearity, and efficiency mapping for motor-dynamometers and actuator-dynamometers.
- Integrate high-speed telemetry and data-logging for system identification and control verification.
- Collaborate cross-functionally to integrate actuators into robotic subsystems and end-effectors.
- Support continuous improvement of control robustness and performance.
Requirements:
- 6+ years of hands-on experience developing embedded systems for high-performance motion control.
- Proficiency in embedded C/C++ for real-time control on MCUs/DSPs.
- Strong foundation in motor control theory (FOC, dq transformations, loop design, field-weakening).
- Solid understanding of ADC/PWM synchronization, ISR timing and task-scheduling.
- Experience with motor drivers, inverters, current sensing, and encoder interfaces
- Familiarity with digital signal processing and frequency-domain analysis for control diagnostics.
- Proficiency in MATLAB/Simulink or Python for modeling and data analysis.
- Skilled with lab equipment for validation and software debugging.
- Excellent communication and planning skills.
- Resilient and effective in fast-paced, challenging environments.
- MS or PhD in electrical engineering, controls, or a related field.
Bonus Qualifications:
- Exposure to functional-safety or high-reliability firmware design.
- Prior work on robotic actuation systems, industrial drives, or precision motion platforms.
- Working knowledge of communication buses and protocols like Ethernet, Ethercat, Serial, SPI and I2C.
- Expertise in torque, position and velocity closed loop control.
The US base salary range for this full-time position is between $150,000 - $240,000 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.
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What We Do
Figure is an AI Robotics company building the world's first commercially viable autonomous humanoid robot. We are based in Sunnyvale, CA.
