Embedded Firmware Engineer - Humanoid (Human)
Role details
Job location
Tech stack
Job description
Our system runs high-density sensing and actuation at 1 kHz. Your firmware will keep the system stable, safe, and responsive. You will own the embedded software on the central ARM controller and the distributed motor controllers, implementing high-rate FOC, safety limits, and communication with the ROS 2 stack. You will work closely with electronics, mechatronics, and controls engineers to turn the architecture into a robust, testable embedded system.
-
Implement and tune FOC / current, velocity, and position loops on ARM Cortex-M33 class motor controllers at 1 kHz.
-
Develop FreeRTOS-based firmware on a high-performance ARM Cortex-M7 central controller:
-
Motor network supervision (CAN-FD/SPI/RS485).
-
Sensor fusion for encoders, force sensing, ToF, IMUs, and tactile arrays.
-
Safety monitoring, watchdogs, and power-loss handling.
Integrate with micro-ROS / DDS-XRCE to expose the system as a single logical node to the main robot controller.
Implement calibration procedures, configuration management, and firmware update mechanisms.
Design and run unit/integration tests for control and safety logic; support HIL / bench testing.
Work tightly with controls/AI engineers on interfaces, timing budgets, and observability.
Requirements
-
4+ years in embedded firmware for real-time systems (robotics, motion control, automotive, industrial).
-
Fluency in C / C++ for microcontrollers and RTOS environments (FreeRTOS or similar).
-
Practical experience with BLDC motor control, FOC, and real-time control loops.
-
Experience with one or more of: CAN-FD, SPI, RS485, Ethernet in real-time systems.
-
Comfortable reading schematics, understanding power and sensing hardware, and debugging at the HW/SW boundary.
-
Strong focus on safety, reliability, and deterministic behaviour.
-
Experience with ARM Cortex-M7/M85 platforms and dual-core debugging. micro-ROS / ROS 2 integration experience.
-
Prior work on servo drives or complex articulated robotic systems.
-
Familiarity with control theory (impedance control, observers, state estimation).
Benefits & conditions
- Enjoy an attractive salary, flexible working hours and 30 days of vacation
- The freedom to contribute your own ideas and drive them forward
- Celebrate successes together with company events
- Take advantage of our corporate benefits program
- And even more fun with great colleagues
