Humanoid on cord

Humanoid

Senior Low-level Control Engineer

External position
London, UK
Hiring internally for Humanoid?
Machine Learning and AI · Robotics
Creating the world’s leading, commercially scalable, and safe humanoid robots.
Posted
3 weeks ago
Checked
cord regularly checks that external positions are still open
2 days ago

Skills & Experience

Job roles: Embedded Developer
Experience level: Senior
Core skills considered: Embedded, Agile
Other skills considered: Software Architecture

Logistics

Base salary: Undisclosed
Some companies on cord are unable to disclose salaries publicly due to internal company policies. Message the company for salary information.
Employment type: Permanent
Remote working: On-site
Visa sponsorship: Not available

Job Description

We are looking for a Senior Low-level Control Engineer to join our Control Team in London, focusing on control development and integration for our end-effectors.

You will design, implement and validate actuator- and joint-level controllers and grasp-level behaviours across a family of end-effector variants - parallel and multi-finger grippers, vacuum and suction tooling, and purpose-built tooling for specific customer tasks. Each variant brings different actuation, different sensing and, critically, different transmission mechanisms: geared direct drives, cable- and tendon-driven routings, differential and coupled linkages, and underactuated designs where few actuators must produce adaptive, compliant grasping across many degrees of freedom.

The ideal candidate has a solid background in control theory, strong software engineering skills in C++, and comfort working from real-time embedded control up through kinematics/dynamics and hardware debugging. You will work closely with mechanical and hardware engineers - early enough in the design cycle that your input shapes actuation and transmission choices rather than merely inheriting them.


What You'll Do

Low-Level Control Development:

  • Tune and validate actuator- and joint-space control loops (PID, feedforward, impedance/admittance, observers, state feedback) for multi-DoF end-effectors in ROS2.
  • Develop grasp-level behaviours: grasp force control, compliant closing, slip detection and correction, and adaptive grasping on underactuated grippers.
  • Implement safety and fault-handling mechanisms - thermal and over-current protection, stall and jam detection, grip-loss detection, safe behaviour on fault.

Transmission Mechanisms, Modeling & System Identification:

  • Build and identify models of actuators, transmissions and mechanisms - geared, cable/tendon-driven, differential, coupled and underactuated - including compliance, friction, backlash, hysteresis, cable stretch and pretension effects.
  • Own the joint-to-actuator abstraction for these mechanisms and the correct exposure of joint versus actuator state through the control stack.
  • Contribute directly to transmission mechanism design: work with mechanical engineers on routing, reduction ratios, DoF coupling and underactuation strategy, bringing the controllability and observability consequences of each option into the conversation early.

Sensor & Hardware Integration:

  • Integrate and calibrate end-effector sensing (F/T, tactile, encoders, temperature/current, vacuum feedback) with real-time acquisition across the control stack.
  • Hands-on bring-up and debugging of new end-effectors, including test-stand work and vendor-supplied units.

Cross-Disciplinary Collaboration:

  • Close the loop with mechanical/electronics engineers across sites on actuation, transmission and sensing requirements.
  • Work with data collection, applications and deployment teams so end-effectors work reliably in real use.

What We're Looking For

  • Shipped real-time-safe, object-oriented C++ control software running on real hardware.
  • Tuned and validated controllers on physical actuators, including sensor calibration and bring-up.
  • Modelled, identified and controlled through real mechanical transmissions - gearing, cables/tendons, differentials, coupled linkages or underactuated mechanisms - and dealt with the compliance, friction and backlash they introduce.
  • Worked on end-effectors or comparable multi-DoF mechanisms, including grasp control and supporting sensing.
  • Debugged at the fieldbus and OS layer: e.g. EtherCAT or CAN, on an RTOS or real-time Linux.
  • Strong control theory foundation (linear/nonlinear control, stability, observers, state estimation, feedback/feedforward, filtering, frequency-domain analysis) applied to multi-DoF mechanisms via Jacobians, numerical IK/FK, and URDF/Xacro.

Nice to have:

  • BLDC motor control (commutation, current control, torque optimization).
  • ros2_control internals (hardware interfaces, controllers, controller_manager, plugins, lifecycle nodes).
  • Tendon- or cable-driven mechanisms specifically, including pretension management, routing friction and wear behaviour.
  • Tactile sensing integration; vacuum and suction tooling, including multi-cup arrays and grip-loss handling.
  • System identification toolchains and simulation environments (MATLAB/Simulink, MuJoCo, Isaac Sim).

Company Benefits

  • High competitive salary.
  • 23 calendar days of vacation per year.
  • Flexible working hours.
  • Opportunity to work on the latest technologies in AI/ML, Robotics and others.
  • Startup model, offering a dynamic and innovative work environment.
Senior Low-level Control Engineer at Humanoid
Position posted 3 weeks ago

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Starling Bank on cord

Starling Bank

Full Stack Engineer (ML Ops)

London, UK
FinTech · Banking · Finance
A better bank for everyone
Active
over 6 months ago
Responds to
0% of requests
Responds in
1h 55m
Requests
7 pending

Skills & Experience

Job roles: Full Stack
Experience level: Mid, Senior
Core skills considered: Java, React, Redux, AWS, JavaScript

Logistics

Base salary: £70K - £110K
Employment type: Permanent
Remote working: Hybrid (up to 2 remote days p/w)
Visa sponsorship: Not available

Job Description

Starling is the UK’s first and leading digital bank on a mission to fix banking! Our vision is fast technology, fair service, and honest values. All at the tap of a phone, all the time.

Starling is the UK’s first and leading digital bank on a mission to fix banking! We built a new kind of bank because we knew technology had the power to help people save, spend and manage their money in a new and transformative way.

We’re a fully licensed UK bank with the culture and spirit of a fast-moving, disruptive tech company. We’re a bank, but better: fairer, easier to use and designed to demystify money for everyone. We employ more than 3,000 people across our London, Southampton, Cardiff and Manchester offices.

Our technologists are at the very heart of Starling and enjoy working in a fast-paced environment that is all about building things, creating new stuff, and disruptive technology that keeps us on the cutting edge of fintech. We operate a flat structure to empower you to make decisions regardless of what your primary responsibilities may be, innovation and collaboration will be at the core of everything you do. Help is never far away in our open culture, you will find support in your team and from across the business, we are in this together!

The way to thrive and shine within Starling is to be a self-driven individual and be able to take full ownership of everything around you: From building things, designing, discovering, to sharing knowledge with your colleagues and making sure all processes are efficient and productive to deliver the best possible results for our customers. Our purpose is underpinned by five Starling values: Listen, Keep It Simple, Do The Right Thing, Own It, and Aim For Greatness.

Hybrid Working

We have a Hybrid approach to working here at Starling - our preference is that you're located within a commutable distance of one of our offices so that we're able to interact and collaborate in person. We don't like to mandate how much you visit the office and work from home, that's to be agreed upon between you and your manager.

Our Data Environment

Our Data teams are excited about the value of data within the business, powers our product decisions to improve things for our customers and enhance effective and agile decision making, regardless of what their primary tech stack may be. Hear from the team in our latest blogs or our case studies with Women in Tech.

We are looking for talented data professionals at all levels to join the team. We value people being engaged and caring about customers, caring about the code they write and the contribution they make to Starling. People with a broad ability to apply themselves to a multitude of problems and challenges, who can work across teams do great things here at Starling, to continue changing banking for good.

Requirements

We have built our entire banking platform in house and mostly in Java. We are looking for people who want to work on building the tooling that is used by our engineers on a daily basis.

We are looking for people who are truly full stack, and are as comfortable polishing their javascript front end as they are debugging the innards of their java applications database interactions, or standing up infrastructure with terraform. We are looking for people who can:

  • Design REST apis.
  • Code backend services, ideally using Java, or another other server side compiled language.
  • Develop modern front ends, ideally using React and Redux.
  • Get their code into the cloud and support it there, ideally on AWS.
  • Believe in clean coding, simple solutions, automated testing and continuous deployment.
  • Like to take ownership of a feature from the original idea through to live.
  • Think (like us) that a small number of empowered developers is the right way to deliver software.

Company Benefits

  • 33 days holiday (including flexible bank holidays)
  • An extra day’s holiday for your birthday
  • 16 hours paid volunteering time a year
  • Part-time and/or flexible hours available for most roles
  • Salary sacrifice, company enhanced pension scheme
  • Life insurance at 4x your salary
  • Hybrid/remote working
  • Private Medical Insurance with VitalityHealth including mental health support and cancer care. Partner benefits include discounts with Waitrose, Mr&Mrs Smith and Peloton
  • Generous family-friendly policies
  • Varied social groups set up and run by our employees
  • Perkbox membership giving access to retail discounts, a wellness platform for physical and mental health, and weekly free and boosted perks
  • Access to initiatives like Cycle to Work, Salary Sacrificed Gym partnerships and Electric Vehicle (EV) leasing

Full details are available on our careers site

Interview Process

Interviewing is a two way process and we want you to have the time and opportunity to get to know us, as much as we are getting to know you! Our interviews are conversational and we want to get the best from you, so come with questions and be curious. In general you can expect the below, following a chat with one of our Talent Team:

  • Stage 1 - 30 mins with one of the team
  • Stage 2 - Take home challenge
  • Stage 3 - 90 mins technical interview with two team members
  • Stage 3 - 45 min final with an executive and a member of the people team
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