Full-Stack Motor Control Engineer

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.

• 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., STM
  32).
• 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‑dynamo meters and actuator‑dynamo meters.
• 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
  .

• 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.

• 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.