Sr. Software Engineer - Wheeled Controls

JOB SUMMARY

The Senior Software Engineer – Wheeled Controls is responsible for developing and deploying the high-performance motion control systems that power our robotic mobility. This role focuses on the critical software layer that coordinates wheeled mobility with upper-body manipulation ensuring our platforms move and interact with precision stability and reliability in complex environments.

You will lead the development of estimation and control algorithms that unify wheel mobility and manipulation into a cohesive whole-body framework. As a senior member of the team you are an expert at taking robotic platforms through the full lifecycle—from initial algorithm design to commercial-grade deployment. You thrive on the challenge of coordinating base motion with arm/torso dynamics managing coupled reaction forces and ensuring our products are robust enough for mission-critical applications.

ESSENTIAL DUTIES AND RESPONSIBILITIES

• Algorithm Development: Design implement and tune whole-body controllers that coordinate wheeled base motion with upper-body manipulation. This includes state-estimation (EKF UKF) base controllers (MPC PID) and arm/torso trajectory tracking with dynamic coupling compensation.
• Hardware-to-Software Interfacing: Develop the low-level software interface between high-level planning stacks and both wheel drive and upper-body actuators (joints grippers) ensuring deterministic performance low-latency communication and coordinated multi-DOF control.
• Productization & Safety: Drive the transition of wheeled platforms to market-ready status. This includes implementing safety-rated speed monitoring emergency stop logic and ensuring compliance with industry safety certifications ((e.g. ISO 13849 ISO 10218 ANSI/RIA R15.08)
• Planning Integration: Work closely with perception and autonomy teams to integrate mobile manipulation planners—coordinating base repositioning with grasp/task planning for seamless loco-manipulation behaviors.
• State Estimation & Localization: Refine sensor fusion techniques (IMU Wheel Encoders LiDAR) to provide highly accurate and resilient odometry in diverse real-world environments.
• Testing & Validation: Lead field testing and rigorous validation of motion control performance across various floor types inclines and payload configurations.
• Code Excellence: Maintain high standards for the codebase by writing production-grade real-time C++. Lead peer reviews and maintain comprehensive documentation for the controls architecture.

SKILLS AND REQUIREMENTS

Technical Skills (Must-Have)

• Controls Expertise: Deep understanding of classical and modern control theory applied to whole-body loco-manipulation systems including coupled mobile base and multi-DOF manipulator dynamics.
• Estimation & Fusion: Strong experience with Kalman Filtering and sensor fusion (IMU encoders LiDAR F/T sensors) for whole-body state estimation.
• Expert C++: High proficiency in modern C++ (14/17/20) for real-time systems with a focus on memory management and performance optimization.
• Middleware: Extensive experience with Custom middleware and its real-time capabilities.
• Shipment History: A proven track record of taking complex wheeled-base platforms to market or deploying robotic fleets in commercial/industrial settings.

Strong Nice to Haves

• Navigation Guru: Deep familiarity with the stack including custom plugin development (Controller Planner or Recovery behaviors).
• Safety Standards: Experience navigating safety certification processes and implementing safety-critical software architectures.
• System Identification: Expertise in modeling and identifying the dynamics of complex electromechanical drive systems.
• Simulation: Experience using MuJoCo or Isaac Sim to validate control stability before deploying to physical hardware.

EDUCATION AND/OR EXPERIENCE

• Education: MS or PhD in Robotics Mechanical Engineering Electrical Engineering Computer Science or a related field.
• Experience: 5+ years of relevant industry experience (or 3+ years with a PhD) specifically focused on mobile robotics and wheeled motion control.
• Proven Impact: Direct experience taking a wheeled-base platform through the full product lifecycle from initial control design to factory exit and customer deployment.

PHYSICAL REQUIREMENTS 

• Prolonged periods of sitting at a desk and working on a computer
• Must be able to lift 50 pounds at times
• Vision to read printed materials and a computer screen
• Hearing and speech to communicate

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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